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Chi Zhang
Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences, 74748 Ningbo, Zhejiang, China, 315201

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Journal article
Published: 27 July 2021 in IEEE/ASME Transactions on Mechatronics
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This paper presents a long stroke nanopositioning stage supported with annular flexure guides to be used in high precision optical instruments. Firstly, the structure of the novel annular flexure guide and the positioning stage is proposed. Because of the symmetric configuration of the flexure guide, large motion range, high linearity, and high stiffness ratio of the positioning stage are achieved. Secondly, the stiffness of the flexure guide is modeled by applying the two-port mechanical network method combining with the Castigliano's theorem and the static equilibrium equation of the structure. Afterwards, the dimension parameters of the flexure guide are optimized by applying the stiffness model to maximize the motion stiffness and the stiffness ratio of the positioning stage. Model validation and performance evaluation are conducted via finite element analysis (FEA). Finally, a prototype of the nanopositioning stage is fabricated, and the classical feed-forward PID (FF-PID) controller is employed to improve its motion accuracy. Experimental results show that the proposed positioning stage can achieve 5 mm motion range, 20 nm motion resolution, 20 nm positioning accuracy at the maximum output position, and micron tracking accuracy for both sinusoidal trajectory and triangular trajectory under the closed-loop controller.

ACS Style

Miao Yang; Chi Zhang; Xiaolu Huang; Si-Lu Chen; Guilin Yang. A Long Stroke Nanopositioning Stage with Annular Flexure Guides. IEEE/ASME Transactions on Mechatronics 2021, PP, 1 -1.

AMA Style

Miao Yang, Chi Zhang, Xiaolu Huang, Si-Lu Chen, Guilin Yang. A Long Stroke Nanopositioning Stage with Annular Flexure Guides. IEEE/ASME Transactions on Mechatronics. 2021; PP (99):1-1.

Chicago/Turabian Style

Miao Yang; Chi Zhang; Xiaolu Huang; Si-Lu Chen; Guilin Yang. 2021. "A Long Stroke Nanopositioning Stage with Annular Flexure Guides." IEEE/ASME Transactions on Mechatronics PP, no. 99: 1-1.

Journal article
Published: 11 June 2021 in IEEE Transactions on Energy Conversion
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This paper presents a novel linear generator structure of three-phase tubular staggered transverse flux permanent magnet linear generator (TSTF-PMLG) for wave energy conversion. Compared with conventional TF-PMLGs, the new structure has a simpler magnetic flux path, high mechanical strength, low cogging force and more suitable for lowspeed direct driven situation. In the primary of TSTF-PMLG, a nonuniform teeth steel sheets structure is used and steel sheets of different phases are in different angel so that the groove can be separated by staggered steel sheets in the plane perpendicular to the direction of movement. By the analytical model, the operation principle of the motor is explained. Then through the finite element analysis, the distribution of the main flux and leakage flux, the no-load characteristics and output power of TSTF-PMLG are analyzed in detail. And the influence of the lamination factor on the output characteristics of the TSTF-PMLG is obtained. Subsequently the appropriate design parameters of the TSTF-PMLG are selected. During the TSTF-PMLG processing, the method of mixing silicon steel sheets and fiberglass board is used to limiting the lamination factor. Finially, a prototype of 150W rated power and 79% rated efficiency is presented. And the experimental results verify the theoretical analysis.

ACS Style

Shuheng Qiu; Wei Zhao; Chi Zhang; Shek Jonathan; Haifeng Wang. A Novel Structure of Tubular Staggered Transverse-Flux Permanent-Magnet Linear Generator for Wave Energy Conversion. IEEE Transactions on Energy Conversion 2021, PP, 1 -1.

AMA Style

Shuheng Qiu, Wei Zhao, Chi Zhang, Shek Jonathan, Haifeng Wang. A Novel Structure of Tubular Staggered Transverse-Flux Permanent-Magnet Linear Generator for Wave Energy Conversion. IEEE Transactions on Energy Conversion. 2021; PP (99):1-1.

Chicago/Turabian Style

Shuheng Qiu; Wei Zhao; Chi Zhang; Shek Jonathan; Haifeng Wang. 2021. "A Novel Structure of Tubular Staggered Transverse-Flux Permanent-Magnet Linear Generator for Wave Energy Conversion." IEEE Transactions on Energy Conversion PP, no. 99: 1-1.

Design innovation paper
Published: 17 May 2021 in Journal of Mechanisms and Robotics
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The flexure joints are proposed to replace the rigid assembly between the cross-arm and the moving carriages of dual-drive H-type gantry (DHG) for higher reliability and fine rotational alignments. In the literature, the flexure joint of the DHG is modeled as an ideal linear torsional spring, resulting in an inaccurate estimation of the cross-arm’s angle. In this study, a generalized analytical kinetostatic model of flexure-linked DHG is built by considering the geometric nonlinearities. The expressions of beam coefficients in the model are obtained from either beam constraint model (BCM) or Timoshenko BCM (TBCM) according to the given criterion of length-to-thickness ratio. The model is capable to accurately estimate any two variables among the rotation angle of the cross-arm, the misalignment of two carriages, and the net driving force, as long as the other is known. Simulations and experiments on the testbed validate the accuracy and show practical appeals of the proposed model.

ACS Style

Silu Chen; Hongyu Wan; Chao Jiang; Liuying Ye; Hongtao Yu; Miao Yang; Chi Zhang; Guilin Yang; Jiefeng Wu. Kinetostatic Modeling of Dual-Drive H-Type Gantry With Exchangeable Flexure Joints. Journal of Mechanisms and Robotics 2021, 13, 1 -14.

AMA Style

Silu Chen, Hongyu Wan, Chao Jiang, Liuying Ye, Hongtao Yu, Miao Yang, Chi Zhang, Guilin Yang, Jiefeng Wu. Kinetostatic Modeling of Dual-Drive H-Type Gantry With Exchangeable Flexure Joints. Journal of Mechanisms and Robotics. 2021; 13 (4):1-14.

Chicago/Turabian Style

Silu Chen; Hongyu Wan; Chao Jiang; Liuying Ye; Hongtao Yu; Miao Yang; Chi Zhang; Guilin Yang; Jiefeng Wu. 2021. "Kinetostatic Modeling of Dual-Drive H-Type Gantry With Exchangeable Flexure Joints." Journal of Mechanisms and Robotics 13, no. 4: 1-14.

Conference paper
Published: 20 April 2021 in International Conference on Communication, Computing and Electronics Systems
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Based on traditional PWM modulation, there are current harmonics related to the carrier frequency in the drive system of the permanent magnet synchronous motor. These current harmonics affect the control accuracy of the system and cause the high-frequency vibration noise. Random PWM modulation technology can disperse the current harmonics concentrated at the switching frequency and its integer multiple frequencies into a wider frequency spectrum. But traditional random PWM modulation technology cannot disperse the current harmonics evenly, the harmonics near the integer multiple switching frequencies are still obvious. Aiming for solving this problem, a novel method of extending random depth is proposed in this paper. The relationship between high-frequency current harmonics and motor vibration, and the mechanism of random PWM modulation technology are analyzed. On the basis of random switching frequency PWM modulation technology, a variable frequency is implemented to replace the original fixed center frequency. Markov chain algorithm instead of pseudo-random number algorithm is employed to achieve random depth expansion of carrier frequency. Finally, the effectiveness of the proposed method is validated through simulation results.

ACS Style

Xueming Guo; Zhe Jiang; Shuheng Qiu; Chi Zhang; Jianye Liu. Research on Vibration Suppression of Permanent Magnet Synchronous Motor Based on Extended Random Depth PWM Modulation Technology. International Conference on Communication, Computing and Electronics Systems 2021, 659 -668.

AMA Style

Xueming Guo, Zhe Jiang, Shuheng Qiu, Chi Zhang, Jianye Liu. Research on Vibration Suppression of Permanent Magnet Synchronous Motor Based on Extended Random Depth PWM Modulation Technology. International Conference on Communication, Computing and Electronics Systems. 2021; ():659-668.

Chicago/Turabian Style

Xueming Guo; Zhe Jiang; Shuheng Qiu; Chi Zhang; Jianye Liu. 2021. "Research on Vibration Suppression of Permanent Magnet Synchronous Motor Based on Extended Random Depth PWM Modulation Technology." International Conference on Communication, Computing and Electronics Systems , no. : 659-668.

Review
Published: 13 April 2021 in Actuators
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In high-end testing and manufacturing equipment, a trend exists whereby the traditional servo feed system with a ball screw and rotary motor will gradually be replaced by a direct drive system. The precision motion system driven by a permanent magnet linear synchronous motor (PMLSM) offers several advantages, including high speed, high acceleration, and high positioning accuracy. However, the operating precision of the feed device will be affected by the PMLSM robustness to nonlinear and uncertain disturbances, such as cogging force, friction, thermal effects, residual vibration, and load disturbance. The aim of this paper was to provide a survey on disturbance analysis and suppression approaches to improve the dynamic performance of PMLSM motion systems. First, the origin and inhibition methods of thrust ripple and friction are presented. Second, the mechanisms, modeling approaches, and mitigation measures of thermal effects are introduced. Additionally, the residual vibration characteristics and suppression methods are discussed. Finally, disturbance observers of periodic and aperiodic loads are introduced. These suppression methods from structural design and control compensation are then discussed in order to improve the dynamic response and steady-state accuracy of PMLSM.

ACS Style

Xuezhen Wang; Feixue Chen; Renfeng Zhu; Xiaolu Huang; Na Sang; Guilin Yang; Chi Zhang. A Review on Disturbance Analysis and Suppression for Permanent Magnet Linear Synchronous Motor. Actuators 2021, 10, 77 .

AMA Style

Xuezhen Wang, Feixue Chen, Renfeng Zhu, Xiaolu Huang, Na Sang, Guilin Yang, Chi Zhang. A Review on Disturbance Analysis and Suppression for Permanent Magnet Linear Synchronous Motor. Actuators. 2021; 10 (4):77.

Chicago/Turabian Style

Xuezhen Wang; Feixue Chen; Renfeng Zhu; Xiaolu Huang; Na Sang; Guilin Yang; Chi Zhang. 2021. "A Review on Disturbance Analysis and Suppression for Permanent Magnet Linear Synchronous Motor." Actuators 10, no. 4: 77.

Journal article
Published: 30 March 2021 in IEEE Access
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Till now, most calibration methods only compensate geometric error caused by inaccurate kinematic parameters, while the desired accuracy may still not be achieved when the robot is performing long-stroke, heavy-duty loading and unloading tasks. In this paper, a generalized semi-analytical beam deformation model is firstly proposed for the Cartesian robot to compensate the non-geometric error due to structural deformation under both distributed and concentrated loads. The adjustment factors are introduced in this model to deal with the over-constrained boundary conditions for both intermediate and side modules of the long-stroke Cartesian robot. This improves the fitness of the coming geometric error model, which assumes the beam to be rigid and straight. In addition, as the major error components which do not conform to the Gaussian distribution have been extracted in earlier steps, the Gaussian process regression model is imported to predict the residual error more accurately. In this way, comprehensive geometric and non-geometric error modeling and compensation procedures are formed for the multi-module, long-stroke Cartesian robot. Simulations and real-time experiments are conducted to validate the effectiveness of the proposed method.

ACS Style

Hongyu Wan; Silu Chen; Yisha Liu; Chi Zhang; Chaochao Jin; Jin Wang; Guilin Yang. Non-Geometric Error Compensation for Long-Stroke Cartesian Robot With Semi-Analytical Beam Deformation and Gaussian Process Regression Model. IEEE Access 2021, 9, 51910 -51924.

AMA Style

Hongyu Wan, Silu Chen, Yisha Liu, Chi Zhang, Chaochao Jin, Jin Wang, Guilin Yang. Non-Geometric Error Compensation for Long-Stroke Cartesian Robot With Semi-Analytical Beam Deformation and Gaussian Process Regression Model. IEEE Access. 2021; 9 (99):51910-51924.

Chicago/Turabian Style

Hongyu Wan; Silu Chen; Yisha Liu; Chi Zhang; Chaochao Jin; Jin Wang; Guilin Yang. 2021. "Non-Geometric Error Compensation for Long-Stroke Cartesian Robot With Semi-Analytical Beam Deformation and Gaussian Process Regression Model." IEEE Access 9, no. 99: 51910-51924.

Journal article
Published: 11 January 2021 in IEEE Access
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This paper mainly discusses about the full-order state observation technology for the permanent magnet synchronous motor (PMSM) drive system. First, the concept of the Kalman filter (KF) is synthesized to design a novel fixed gain filter (FGF) with an optimal fixed feedback gain matrix, which ensures a fast and accurate observation for position, speed, acceleration, and load torque. To alleviate the heavy computational load of the KF, second, the feedback gain is configured as a single tunable parameter only, which can be calculated offline. The regulation parameter is refined within a certain small range by fulfilling the system stability criterion. Furthermore, the system dynamic performance indexes, such as noise smoothing capability and bandwidth, are both analyzed to deduce the expected exact value of the regulation parameter. The proposed FGF can provide an accurate observation equivalent to the conventional KF, while the proposed FGF provides a faster tracking performance, an easier parameter tuning mechanism, and a lower program complexity. The performance of the FGF is verified by simulations and experiments in all cases.

ACS Style

Can Wang; Weinan Wu; Guochong Li; Guilin Yang; Chi Zhang; Jianfei Pan. Design of Full-Order State Observer for Motor Drive Systems Based on the Fixed Gain Filter. IEEE Access 2021, 9, 13488 -13498.

AMA Style

Can Wang, Weinan Wu, Guochong Li, Guilin Yang, Chi Zhang, Jianfei Pan. Design of Full-Order State Observer for Motor Drive Systems Based on the Fixed Gain Filter. IEEE Access. 2021; 9 (99):13488-13498.

Chicago/Turabian Style

Can Wang; Weinan Wu; Guochong Li; Guilin Yang; Chi Zhang; Jianfei Pan. 2021. "Design of Full-Order State Observer for Motor Drive Systems Based on the Fixed Gain Filter." IEEE Access 9, no. 99: 13488-13498.

Journal article
Published: 11 December 2020 in Applied Sciences
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Inspired by the structure of human arms, a modular cable-driven human-like robotic arm (CHRA) is developed for safe human–robot interaction. Due to the unilateral driving properties of the cables, the CHRA is redundantly actuated and its stiffness can be adjusted by regulating the cable tensions. Since the trajectory of the 3-DOF joint module (3DJM) of the CHRA is a curve on Lie group SO(3), an enhanced stiffness model of the 3DJM is established by the covariant derivative of the load to the displacement on SO(3). In this paper, we focus on analyzing the how cable tension distribution problem oriented the enhanced stiffness of the 3DJM of the CHRA for stiffness adjustment. Due to the complexity of the enhanced stiffness model, it is difficult to solve the cable tensions from the desired stiffness analytically. The problem of stiffness-oriented cable tension distribution (SCTD) is formulated as a nonlinear optimization model. The optimization model is simplified using the symmetry of the enhanced stiffness model, the rank of the Jacobian matrix and the equilibrium equation of the 3DJM. Since the objective function is too complicated to compute the gradient, a method based on the genetic algorithm is proposed for solving this optimization problem, which only utilizes the objective function values. A comprehensive simulation is carried out to validate the effectiveness of the proposed method.

ACS Style

Kaisheng Yang; Guilin Yang; Chi Zhang; ChinYin Chen; Tianjiang Zheng; Yuguo Cui; Tehuan Chen. Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm. Applied Sciences 2020, 10, 8871 .

AMA Style

Kaisheng Yang, Guilin Yang, Chi Zhang, ChinYin Chen, Tianjiang Zheng, Yuguo Cui, Tehuan Chen. Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm. Applied Sciences. 2020; 10 (24):8871.

Chicago/Turabian Style

Kaisheng Yang; Guilin Yang; Chi Zhang; ChinYin Chen; Tianjiang Zheng; Yuguo Cui; Tehuan Chen. 2020. "Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm." Applied Sciences 10, no. 24: 8871.

Journal article
Published: 10 December 2020 in Actuators
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Velocity ripple is one of the common problems of modular drive joints, which easily induces vibration and noise and affects motion accuracy. In order to improve the motion control accuracy, a robust method based on dual encoders to eliminate velocity ripple is proposed in this paper. The method contains a velocity ripple elimination controller (VREC), a rigid-body velocity solver (RBVS), and a proportional–integral (PI) controller. Feeding back the VREC output to the PI controller based on the rigid-body velocity obtained from the weighted sum of dual encoders in the RBVS, an equivalent system damping term was added into the system. Therefore, the velocity ripple can be suppressed effectively with the adjustable damping term composed of control parameters. Above all, the proposed method has only one more parameter to further eliminate velocity ripple compared to the pure PI method and, meanwhile, has apparent advantages over the conventional method, such as fewer parameters and full frequency ripple elimination, as well as robustness to input disturbance and modular drive joint load inertia changes. This proposed method’s effectiveness is verified by simulations in MATLAB and experiments in the modular drive joint platform.

ACS Style

Qiang Xin; Chin-Yin Chen; Chongchong Wang; Guilin Yang; Chi Zhang; Zaojun Fang; Chun Lung Philip Chen. A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints. Actuators 2020, 9, 135 .

AMA Style

Qiang Xin, Chin-Yin Chen, Chongchong Wang, Guilin Yang, Chi Zhang, Zaojun Fang, Chun Lung Philip Chen. A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints. Actuators. 2020; 9 (4):135.

Chicago/Turabian Style

Qiang Xin; Chin-Yin Chen; Chongchong Wang; Guilin Yang; Chi Zhang; Zaojun Fang; Chun Lung Philip Chen. 2020. "A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints." Actuators 9, no. 4: 135.

Journal article
Published: 27 October 2020 in IEEE Access
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This paper focuses on a robust continuous sliding mode control (RCSMC) method for manipulator PMSM trajectory tracking system under time-varying uncertain disturbances. The main objective of this study is to improve the trajectory tracking dynamic response and disturbances rejection ability of the manipulator PMSM, and then the manipulator itself, by using the RCSMC method. The RCSMC method consists of two key parts: a terminal continuous sliding mode controller (TCSMC), and an extended state observer (ESO). The TCSMC has been demonstrated to have remarkable capabilities to reduce the chattering phenomenon caused by high frequency switching function in the conventional sliding mode control law, and reject the strong time-varying uncertain disturbances for PMSM velocity loops. However, the high control gain, which could lead high velocity steady state fluctuations, is needed. Therefore, an extended state observer is introduced to estimate the disturbances. The estimated disturbances are further used by the velocity loop controller as a kind of feed-forward compensation to reduce the gain of the TCSMC method. The stability of the PMSM trajectory tracking system with the RCSMC algorithm is guaranteed by the Lyapunov stability criteria. Simulations have been conducted to verify the performance of the proposed RCSMC algorithm. Finally, the proposed RCSMC algorithm is applied in a practical 6-DOF manipulator, and the experimental results exhibit the extraordinary robustness and capabilities in dynamic position tracking characteristics, velocity response and disturbances rejection.

ACS Style

Baolei Wang; Chi Zhang; Qingwei Jia; Xiangjun Liu; Guilin Yang. Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances. IEEE Access 2020, 8, 196618 -196632.

AMA Style

Baolei Wang, Chi Zhang, Qingwei Jia, Xiangjun Liu, Guilin Yang. Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances. IEEE Access. 2020; 8 ():196618-196632.

Chicago/Turabian Style

Baolei Wang; Chi Zhang; Qingwei Jia; Xiangjun Liu; Guilin Yang. 2020. "Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances." IEEE Access 8, no. : 196618-196632.

Journal article
Published: 29 September 2020 in IEEE Transactions on Industrial Electronics
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Linear motor system is normally a low-damping system to achieve high speed and high acceleration without mechanical transmission devices. Therefore, the vibration issue is serious especially in the high-speed start-stop motion process, which deteriorates the control precision and decreases work efficiency. This paper proposes a dual-sided hybrid excitation eddy current damper (ECD) to suppress the vibration of the linear motor during decelerating and stopping stages. This ECD is composed of a copper plate and two E-shape hybrid excited electromagnets. The plate is sandwiched between these dual-sided electromagnets to generate the eddy current damping force when it moves and the ECD current is excited simultaneously. The analytical model of the ECD considering leakage flux is established and verified by FEA with the deviation less than 7%. Experiments are conducted on the prototype to verify the effectiveness of its vibration restraint performance. With the active damping, the peak amplitude of the position error and the settling time are reduced by 68.88% and 33.33%, respectively.

ACS Style

Na Sang; Chi Zhang; Jinhua Chen; Sheng Lin; Shuheng Qiu; Rong Li; Guilin Yang. A Dual-Sided Hybrid Excitation Eddy Current Damper for Vibration Suppression in Low Damping Linear Motor System. IEEE Transactions on Industrial Electronics 2020, 68, 9897 -9907.

AMA Style

Na Sang, Chi Zhang, Jinhua Chen, Sheng Lin, Shuheng Qiu, Rong Li, Guilin Yang. A Dual-Sided Hybrid Excitation Eddy Current Damper for Vibration Suppression in Low Damping Linear Motor System. IEEE Transactions on Industrial Electronics. 2020; 68 (10):9897-9907.

Chicago/Turabian Style

Na Sang; Chi Zhang; Jinhua Chen; Sheng Lin; Shuheng Qiu; Rong Li; Guilin Yang. 2020. "A Dual-Sided Hybrid Excitation Eddy Current Damper for Vibration Suppression in Low Damping Linear Motor System." IEEE Transactions on Industrial Electronics 68, no. 10: 9897-9907.

Journal article
Published: 31 August 2020 in Nature Communications
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There is ever-increasing interest yet grand challenge in developing programmable untethered soft robotics. Here we address this challenge by applying the asymmetric elastoplasticity of stacked graphene assembly (SGA) under tension and compression. We transfer the SGA onto a polyethylene (PE) film, the resulting SGA/PE bilayer exhibits swift morphing behavior in response to the variation of the surrounding temperature. With the applications of patterned SGA and/or localized tempering pretreatment, the initial configurations of such thermal-induced morphing systems can also be programmed as needed, resulting in diverse actuation systems with sophisticated three-dimensional structures. More importantly, unlike the normal bilayer actuators, our SGA/PE bilayer, after a constrained tempering process, will spontaneously curl into a roll, which can achieve rolling locomotion under infrared lighting, yielding an untethered light-driven motor. The asymmetric elastoplasticity of SGA endows the SGA-based bi-materials with great application promise in developing untethered soft robotics with high configurational programmability. Developing programmable untethered soft robotics remains a challenge. Here the authors apply the asymmetric elastoplasticity of stacked graphene assembly to address this challenge and realize untethered thermoresponsive morphing in tandem with high configurational programmability.

ACS Style

Shuai Wang; Yang Gao; Anran Wei; Peng Xiao; Yun Liang; Wei Lu; ChinYin Chen; Chi Zhang; Guilin Yang; Haimin Yao; Tao Chen. Asymmetric elastoplasticity of stacked graphene assembly actualizes programmable untethered soft robotics. Nature Communications 2020, 11, 1 -12.

AMA Style

Shuai Wang, Yang Gao, Anran Wei, Peng Xiao, Yun Liang, Wei Lu, ChinYin Chen, Chi Zhang, Guilin Yang, Haimin Yao, Tao Chen. Asymmetric elastoplasticity of stacked graphene assembly actualizes programmable untethered soft robotics. Nature Communications. 2020; 11 (1):1-12.

Chicago/Turabian Style

Shuai Wang; Yang Gao; Anran Wei; Peng Xiao; Yun Liang; Wei Lu; ChinYin Chen; Chi Zhang; Guilin Yang; Haimin Yao; Tao Chen. 2020. "Asymmetric elastoplasticity of stacked graphene assembly actualizes programmable untethered soft robotics." Nature Communications 11, no. 1: 1-12.

Journal article
Published: 15 June 2020 in IEEE Transactions on Magnetics
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This paper presents an accurate analytical model to compute the magnetic field in short moving-magnet linear motor with any pole and slot combinations. Two kinds of end effects caused by the finite length of the stator and mover are considered. The stator end effect is addressed by an equivalent slotting subdomain based on the subdomain analytical method. The mover end effect is analyzed with a virtual mover consisting of the mover and two additional virtual units. The length of virtual unit is given according to the effective motion stroke and magnetic circuit, and the remanence of PMs in virtual units are specified as zero. A linear motor with 8poles/6slots and Halbach array is used to verify the correctness of the proposed analytical model. Compared with the results from finite element analysis and previous subdomain analytical model, the proposed analytical model shows high accuracy on the calculations of the magnet flux density, cogging force, and normal magnetic force.

ACS Style

Feixue Chen; Chi Zhang; Jinhua Chen; Guilin Yang. Accurate Subdomain Model for Computing Magnetic Field of Short Moving-Magnet Linear Motor With Halbach Array. IEEE Transactions on Magnetics 2020, 56, 1 -9.

AMA Style

Feixue Chen, Chi Zhang, Jinhua Chen, Guilin Yang. Accurate Subdomain Model for Computing Magnetic Field of Short Moving-Magnet Linear Motor With Halbach Array. IEEE Transactions on Magnetics. 2020; 56 (9):1-9.

Chicago/Turabian Style

Feixue Chen; Chi Zhang; Jinhua Chen; Guilin Yang. 2020. "Accurate Subdomain Model for Computing Magnetic Field of Short Moving-Magnet Linear Motor With Halbach Array." IEEE Transactions on Magnetics 56, no. 9: 1-9.

Journal article
Published: 20 March 2020 in IEEE Access
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This paper focuses on the kinematic design issues for a three degrees-of-freedom (DOFs), i.e., two-rotational and one-translational (2R1T) end-effector to perform continuous contact operations, such as deburring, grinding, and polishing. The proposed end-effector design employs a 3-legged prismatic-prismatic-spherical (3-PPS) parallel mechanism due to its desired kinematic characteristics and dynamic behavior. As the 3-PPS parallel mechanism is featured with zero-torsion motion characteristic, the orientation of its moving platform can be always represented by a rotation about an axis parallel to its base platform plane. Through analysis of the rotation matrix of the moving platform, closed-form linear solutions for both forward and inverse displacement analyses are readily derived. Other critical design issues, such as passive prismatic joint displacement, parasitic motion, velocity, and singularity analyses, are addressed. For a specific dimension design of the 3-PPS parallel mechanism, the workspace analysis indicates that the proposed design can achieve a singularity-free ±12°×±12°×25 mm workspace. Furthermore, as the displacements of the passive prismatic joints are within 2.63 mm, light-weight flexure-based prismatic joints are designed to replace the conventional heavy linear guides. The flexure-rigid structure of the 3-DOF 2R1T end-effector significantly improves the dynamic performance of the system. A prototype of the 3-DOF 2R1T robotic end-effector is designed and fabricated to verify the proposed design.

ACS Style

Guilin Yang; Renfeng Zhu; Zaojun Fang; Chin-Yin Chen; Chi Zhang. Kinematic Design of a 2R1T Robotic End-Effector With Flexure Joints. IEEE Access 2020, 8, 57204 -57213.

AMA Style

Guilin Yang, Renfeng Zhu, Zaojun Fang, Chin-Yin Chen, Chi Zhang. Kinematic Design of a 2R1T Robotic End-Effector With Flexure Joints. IEEE Access. 2020; 8 (99):57204-57213.

Chicago/Turabian Style

Guilin Yang; Renfeng Zhu; Zaojun Fang; Chin-Yin Chen; Chi Zhang. 2020. "Kinematic Design of a 2R1T Robotic End-Effector With Flexure Joints." IEEE Access 8, no. 99: 57204-57213.

Journal article
Published: 02 March 2020 in Symmetry
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This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local product of exponentials formula. Based on this model, the model of the end effector’s pose error is established from a pair of symmetrical branched chains, and a recursive least square method is applied for the parameter identification. By installing built-in sensors at the passive joints, a calibration method for a serial manipulator is eventually extended to this parallel manipulator. Specifically, the sensor installed at the second revolute joint of each branched chain is saved, replaced by numerical calculation according to kinematic constraints. The simulation results validate the effectiveness of the proposed kinematic error modeling and identification methods. The procedure for pre-processing compensation on this 3T1R parallel manipulator is eventually given to improve its absolute positioning accuracy, using the inverse of the calibrated kinematic model.

ACS Style

Fengxuan Zhang; Silu Chen; Yongyi He; Guoyun Ye; Chi Zhang; Guilin Yang. A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator. Symmetry 2020, 12, 357 .

AMA Style

Fengxuan Zhang, Silu Chen, Yongyi He, Guoyun Ye, Chi Zhang, Guilin Yang. A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator. Symmetry. 2020; 12 (3):357.

Chicago/Turabian Style

Fengxuan Zhang; Silu Chen; Yongyi He; Guoyun Ye; Chi Zhang; Guilin Yang. 2020. "A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator." Symmetry 12, no. 3: 357.

Journal article
Published: 25 December 2019 in IEEE Access
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The estimation of a fundamental matrix (F-matrix) from two-view images is a crucial problem in epipolar geometry, and a key point in visual simultaneous localization and mapping (VSLAM). Conventional robust methods proposed by the data calculation space, such as Random Sample Consensus (RANSAC), encounter computational inefficiency and low accuracy when the outliers exceed 50%. In this paper, a semantic filter-based on faster region-based convolutional neural network (faster R-CNN) is proposed to solve the outlier problem in RANSAC based F-matrix calculations. The semantic filter is trained using semantic patches tailored by inliers, providing different semantic labels in various image regions. First, the patches classified into the top three bad labels are filtered out during the pre-processing phase. Second, precise and robust correspondences are determined by the remaining high-level semantic contexts. Finally, the inliers are assessed using RANSAC to produce an accurate F-matrix. The proposed algorithm can improve the accuracy of F-matrix calculations, as low-quality feature correspondences are effectively decreased. Experiments on KITTI and ETH sequences illustrate that the 3D position error can be reduced by applying the semantic filter to the ORB-SLAM system. Further, indoor and real environment experiments demonstrate that an effective lower trajectory error is yielded with the proposed approach.

ACS Style

Chunyan Shao; Chi Zhang; Zaojun Fang; Guilin Yang. A Deep Learning-Based Semantic Filter for RANSAC-Based Fundamental Matrix Calculation and the ORB-SLAM System. IEEE Access 2019, 8, 3212 -3223.

AMA Style

Chunyan Shao, Chi Zhang, Zaojun Fang, Guilin Yang. A Deep Learning-Based Semantic Filter for RANSAC-Based Fundamental Matrix Calculation and the ORB-SLAM System. IEEE Access. 2019; 8 (99):3212-3223.

Chicago/Turabian Style

Chunyan Shao; Chi Zhang; Zaojun Fang; Guilin Yang. 2019. "A Deep Learning-Based Semantic Filter for RANSAC-Based Fundamental Matrix Calculation and the ORB-SLAM System." IEEE Access 8, no. 99: 3212-3223.

Journal article
Published: 21 November 2019 in IEEE Access
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ABSTRACT A major obstacle that restricts the application of notched flexure hinge based compliant mechanism is its limited motion range. This paper presents the optimal design and tracking control of a superelastic flexure hinge based 3-PRR compliant parallel manipulator (CPM) to achieve high precision planar motion within centimeter’s translation range and up to 10 degrees’ rotational range. Firstly, a novel asymmetric ellipse-parabola (AEP) notch shape is proposed, and the geometric parameters of the AEP superelastic flexure hinge are acquired via multi-objective optimization to obtain desirable transmission performance. Secondly, a nominal inverse kinematic model of the CPM is established, and the dimension parameters of the 3-PRR manipulator are synthesized to maximize the dexterity of the CPM over the regular workspace. Thereafter, a disturbance observer based inverse kinematic control scheme (DOB-IKM) is proposed to suppress the model mismatches and external disturbances of the 3-PRR CPM, where the unmodeled factors of the system are approximated through an online learning radical basis function neural network (RBFNN) and the external disturbances of the CPM is observed and compensated by a disturbance observer (DOB). Finally, a prototype of the 3-PRR CPM is manufactured, and experimental tests show the effectiveness of the proposed control scheme and the superiority of the 3-PRR CPM.

ACS Style

Miao Yang; Chi Zhang; Guilin Yang; Wei Dong. Optimal Design and Tracking Control of a Superelastic Flexure Hinge Based 3-PRR Compliant Parallel Manipulator. IEEE Access 2019, 7, 174236 -174247.

AMA Style

Miao Yang, Chi Zhang, Guilin Yang, Wei Dong. Optimal Design and Tracking Control of a Superelastic Flexure Hinge Based 3-PRR Compliant Parallel Manipulator. IEEE Access. 2019; 7 (99):174236-174247.

Chicago/Turabian Style

Miao Yang; Chi Zhang; Guilin Yang; Wei Dong. 2019. "Optimal Design and Tracking Control of a Superelastic Flexure Hinge Based 3-PRR Compliant Parallel Manipulator." IEEE Access 7, no. 99: 174236-174247.

Journal article
Published: 21 November 2019 in Energies
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A mobile robot with no less than two powered caster wheels (PCWs) has the ability to perform omnidirectional motions and belongs to a redundantly actuated system. Redundant actuation will bring the issue of non-uniqueness of actuating torque distribution, and inappropriate choices of torque distribution schemes will lead to unexpected large required actuating torques and extra energy consumption. This paper proposes a new torque distribution optimization approach based on a gradient projection method (GPM) for the omnidirectional mobile robot (OMR) with direct drive PCWs. It can significantly reduce the maximal required actuating torque and the energy consumption of the system. The modular kinematic and dynamic modeling method is presented first, which is suitable for an arbitrary number of employed PCWs, as well as their install positions in the chassis. The detailed energy consumption model of the OMR, including output energy consumption and electrical energy loss, is formulated through experimental testing. The effectiveness of the proposed algorithms is validated by simulation examples. Lastly, the computational efficiency of the method is verified

ACS Style

Wenji Jia; Guilin Yang; Chongchong Wang; Chi Zhang; ChinYin Chen; Zaojun Fang; Jia; Yang; Wang; Chen; Fang; And Zaojun Fang. Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels. Energies 2019, 12, 4417 .

AMA Style

Wenji Jia, Guilin Yang, Chongchong Wang, Chi Zhang, ChinYin Chen, Zaojun Fang, Jia, Yang, Wang, Chen, Fang, And Zaojun Fang. Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels. Energies. 2019; 12 (23):4417.

Chicago/Turabian Style

Wenji Jia; Guilin Yang; Chongchong Wang; Chi Zhang; ChinYin Chen; Zaojun Fang; Jia; Yang; Wang; Chen; Fang; And Zaojun Fang. 2019. "Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels." Energies 12, no. 23: 4417.

Journal article
Published: 08 November 2019 in Symmetry
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The symmetrical insulated mug is composed of two layers. The two ends of the two layers form the mouth and bottom seams of the insulated mug. The weld quality of the two seams is very important to keep the vacuum degree of the air between the two layers, which is vital for the heat-insulating property of the mug. Due to the narrow seam, laser welding is used. Since laser welding has high demand on the relative position of the seam and the laser torch, a vision-based seam tracking system is designed. Before welding is started, the vision sensor scans the seam and feature sample points are collected. A reconstruction algorithm is proposed to form the image containing the seam. Then, a least square fitting (LSF) method combined with random sample consensus (RANSAC) method is proposed to detect the smooth seam from the sample points. In the welding process, a seam tracking system with fuzzy logic control method is presented to keep the torch precisely on the seam. Finally, full experiments are conducted in the welding factory of the insulated mugs to verify the effectiveness of the proposed system and method.

ACS Style

Zaojun Fang; Wenwu Weng; Weijun Wang; Chi Zhang; Guilin Yang. A Vision-Based Robotic Laser Welding System for Insulated Mugs with Fuzzy Seam Tracking Control. Symmetry 2019, 11, 1385 .

AMA Style

Zaojun Fang, Wenwu Weng, Weijun Wang, Chi Zhang, Guilin Yang. A Vision-Based Robotic Laser Welding System for Insulated Mugs with Fuzzy Seam Tracking Control. Symmetry. 2019; 11 (11):1385.

Chicago/Turabian Style

Zaojun Fang; Wenwu Weng; Weijun Wang; Chi Zhang; Guilin Yang. 2019. "A Vision-Based Robotic Laser Welding System for Insulated Mugs with Fuzzy Seam Tracking Control." Symmetry 11, no. 11: 1385.

Journal article
Published: 11 September 2019 in Symmetry
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In this paper, we focus on the issues pertaining to stiffness-oriented cable tension distributionfor a symmetrical 6-cable-driven spherical joint module (6-CSJM), which can be employed to constructmodular cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three cables areemployed for position regulation by adjusting the cable lengths, and the remaining three cables areutilized for stiffness regulation by adjusting the cable tensions, i.e., the position and stiffness can beregulated simultaneously. To increase the range of stiffness regulation, a variable stiffness device(VSD) is designed, which is serially connected to the driving cable. Since the stiffness model of the6-CSJM with VSDs is very complicated, it is difficult to directly solve the cable tensions from thedesired stiffness. The stiffness-oriented cable tension distribution issue is formulated as a nonlinearconstrained optimization problem, and the Complex method is employed to obtain optimal tensiondistributions. Furthermore, to significantly improve the computation efficiency, a decision variableelimination technique is proposed to deal with the equality constraints, which reduces decision variablesfrom 6 to 3. A comprehensive simulation study is conducted to verify the effectiveness of the proposedmethod, showing that the 6-CSJM can accurately achieve the desired stiffness through cable tensionoptimization.

ACS Style

Yang; Si-Lu Chen; Wang; Chi Zhang; Zaojun Fang; Tianjiang Zheng; Chen; Fang; Kaisheng Yang; Guilin Yang; Yi Wang; Chongchong Wang. Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism. Symmetry 2019, 11, 1158 .

AMA Style

Yang, Si-Lu Chen, Wang, Chi Zhang, Zaojun Fang, Tianjiang Zheng, Chen, Fang, Kaisheng Yang, Guilin Yang, Yi Wang, Chongchong Wang. Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism. Symmetry. 2019; 11 (9):1158.

Chicago/Turabian Style

Yang; Si-Lu Chen; Wang; Chi Zhang; Zaojun Fang; Tianjiang Zheng; Chen; Fang; Kaisheng Yang; Guilin Yang; Yi Wang; Chongchong Wang. 2019. "Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism." Symmetry 11, no. 9: 1158.