School of Mechanical Engineering, Donghua University, China Introduction: Dr. Donghua University of Engineering, a postdoctoral fellow of Hong Kong Polytechnic University, visited the Institute of Textile Technology in Dundundoffer, Germany, and is now a professor and doctoral supervisor of the Department of Mechanical Design of the School of Mechanical Engineering of Donghua University. Awards: 1.Xiangjiang Scholar Award, 2014. 2.Shanghai Excellent Doctoral Dissertation, 2013. 3.First prize of China National Textile and Apparel Council Science and Technology Progress Award, 2012. 4.The second prize of China Machinery Industry Science and Technology Award, 2013. First Prize of Shanghai Science and Technology Progress Award, 2009. Title: An in-pipe worm robot with pneumatic actuators based on origami paper-fabric composites Abstract: This presentation reports on the design, fabrication, and characterization of an in-pipe worm-like soft robot with pneumatic actuators based on origami paper-fabric composites in which the paper and fabric serve as the skeleton and skin of the robot, respectively. The robot is assembled with an extensor of a bellow-like structure for implementing peristaltic locomotion and a clamp fabricated using a Kresling crease pattern at each end of the robot for anchoring. The performances of the pneumatic actuators, as well as the worm robot, are characterized and their dependence on some material, structural, and pneumatic parameters are investigated. Stepwise inflation of the clamp actuator takes place as the pressurization duration increases. The extension ratio of the extensor has a nonlinear relationship with the pressurization duration. The higher rigidity of the paper with a high weight per unit area can facilitate faster retention near the end of the extension process for the extensor with a small number of creases, while it becomes a resistance for the extension of the extensor with a large number of creases. The softness, lightweight features, low cost, ease to fabricate, modular design, and mobility of the worm robot indicate it has potential to find application in pipeline inspection, etc. |
Associate Professor Guanglei Wu School of Mechanical Engineering, Dalian University of Technology, China Title: Overview, design and application of spherical motion manipulators Abstract: Spherical motion widely exists in robot system and its application, and has a very broad application prospect, which is one of the important research directions in the field of robot research at present. The research and development of the spherical manipulator is very important for the performance analysis and design of the new system to meet the new challenges brought by emerging markets. The research of spherical motion manipulator spans a large number of research fields, involving many topics. New parallel robots and actuators have been conceived to solve engineering problems, and future research problems, together with other problems that have not yet appeared, need to be solved to continuously improve the technical level of spherical motion generators. This report takes the spherical robot as the object, and makes an in-depth study on its type, structure, application background, design and prospect. |
Senior Engineer Delun Li Beijing Institute of Spacecraft System Engineering, China Introduction: Senior engineer of Beijing Institute of Spacecraft System Engineering, chief designer of the motion subsystem of the TianGong Space Station Manipulator, and a part-time master Instructor at Harbin Institute of Technology. Mainly engaged in the research of space robots, special robots, manipulator joints, human-machine system task design, human-computer interaction, human-machine function allocation, human-machine interface and user experience in the world multi-person multi-machine system. Title: Reliability Design of Manipulator Joint for China Space Station Abstract: The TianHe manipulator is responsible for major tasks such as China Space Station construction, operation, and support for astronauts extravehicular operations. The joint is the direct execution part of the manipulator to realize flexible movement, and it is the key component to ensure the core functions and performance indicators of the China Space Station manipulator, its system composition is complex, and its reliability design can refer to very little experience. The joint reliability design method is the key and difficult point of joint design, and of great significance. Starting from the joint re-liability design method, this paper comprehensively uses various methods such as redundant design, margin design, and environmental adaptability design to complete the joint reliability design. The ideas and methods for reliability design of the China Space Station manipulator joints introduced in this paper have important reference value for the reliability design and verification of space complex mechanical and electrical products. |
