Traditional dexterous hands can readily grasp objects but face limitations in dexterous manipulation due to complex control systems and high actuation demands. This paper presents a novel dexterous hand designed to address these challenges. The hand consists of four fingers, each equipped with two mecanum wheels at the fingertips to allow for the omnidirectional manipulation of objects. Continuous rotation of the mecanum wheels enables unbounded motion of grasped objects without the need for finger gaiting. Object pose adjustment is achieved by controlling the rotation of mecanum wheels, thus significantly reducing operational complexity and enhancing manipulative agility. Furthermore, to address the control difficulty of multi-finger coordinated motion, a four-finger coupled mechanism is implemented, resulting in a dexterous hand with three degrees of freedom. Kinematic models of omnidirectional manipulation are established for typical geometric objects, including a flat plate, a cuboid, a sphere, and a cylinder. Simulations confirm the correctness of the kinematic models. Experimental results show that the hand can achieve omnidirectional manipulation of objects. Finally, the extended functionality of the dexterous hand is briefly presented, which allows it to be reconfigured into an omnidirectional mobile robot.

This paper presents a robotic structure that combines modular design with low energy consumption and a large workspace, suitable for both mobile and fixed platforms. It primarily consists of pitch joint modules and yaw joint modules. The yaw joint module employs a novel single-motor dual-axis configuration design, which effectively increases the yaw range and expands the robot’s workspace compared to traditional yaw joint structures. The pitch joint module is designed based on a parallelogram structure and is diagonally driven by an electric cylinder. By incorporating a spring installed in parallel with the electric cylinder, a Parallel Elastic Actuator is formed, achieving the goal of low energy consumption. Comparative analysis demonstrates that the proposed robot has certain advantages in terms of workspace and energy consumption for the pitch joint module. A robot prototype was constructed and tested, and the results indicate that the robot can successfully complete target grasping tasks, the yaw joint can achieve large-angle yaw movements, and the energy consumption of the new pitch joint module is reduced by 47.02%.

When a mobile robot on an overhead line carries out operations, the effects of the elastic deformation and vibration of the flexible overhead line on motion performance cannot be ignored. This study proposes a method for active compensation of the robot’s trajectory, based on the force–deformation characteristics of the overhead line. Overhead line mobile robot systems show a complex nonlinear coupled vibration problem. To simplify the flexible environment, it is modeled as a single-degree-of-freedom spring–damped system. A rigid–flexible coupled dynamics model is established using the sub-bar method and the Lagrangian method. A numerical simulation is used to compare and analyze the end trajectories of mobile robots using generalized coordinates when the overhead line is rigid and flexible, respectively, revealing the coupling mechanism between the flexible overhead line and the robot. Based on the force–deformation characteristics of the overhead line, an active robot trajectory compensation method is proposed. The experimental results show that the established rigid–flexible coupling dynamics model describes the dynamic characteristics of an overhead line mobile robot, and the active robot trajectory compensation method has certain feasibility. The proposed method provides a reference basis for the control of overhead line mobile robots and has some applicability in addressing motion compensation issues in flexible environments.

The paper explores the solidity, maximum load-bearing capacity, and solid optimization of composite stiffened panels. Conducting compression stability tests and finite element analysis, the panels of different stringer formats and schedules of the ply were examined. Originally, an integrated coupled FE model was created, which involved the skin, stringers, potting areas, and test fixtures. The accuracy of the model was directly tested with the Strain Assurance Criterion (SAC), which compared experimental measurements against simulated strains. At the same time, the 15-5PH stainless steel could be optimized to reduce its interference with test results. Second, an eigenvalue analysis (linear buckling) was performed to obtain structural buckling modes and critical loads. The arc-length technique (nonlinear post-buckling) was later used to trace the load path and detect failure loads, and was subsequently applied in conjunction with the Hoffman progressive damage criterion. The precision of the analysis was verified by comparing the obtained results of the two methods to the experimental values. This study validates these buckling and post-buckling analytical methods and also presents useful engineering clues in lightweight design, selection of configuration, and optimization of fixtures in stiffened panels that play a major role in designing composite aircraft structures of the present-day civil aircraft.