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| 1 | A Review on Lower Limb Rehabilitation Exoskeleton Robots显示文摘Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies. | Di Shi Wuxiang Zhang Wei Zhang Xilun Ding | 2019 | Chinese Journal of Mechanical Engineering2019，32，4： | 36 |
| 2 | A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems显示文摘Small-scale rotorcraft unmanned robotic systems(SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years(2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem,trends, and challenges are described from three aspects. Conclusions of the paper are presented,and the future of SRURSs is discussed to enable further research interests. | Xilun DING Pin GUO Kun XU Yushu YU | 2019 | Chinese Journal of Aeronautics2019，32，1： | 18 |
| 3 | A review of structures,verification,and calibration technologies of space robotic systems for on-orbit servicing显示文摘Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into space.Additionally,the demands for on-orbit servicing(OOS)missions are rapidly increasing.Space robotics is one of the most promising approaches for various OOS missions;thus,research on space robotics technologies for OOS has attracted increased attention from space agencies and universities worldwide.In this paper,we review the structures,ground verification,and onorbit kinematics calibration technologies of space robotic systems for OOS.First,we systematically summarize the development of space robotic systems and OOS programs based on space robotics.Then,according to the structures and applications,these systems are divided into three categories:large space manipulators,humanoid space robots,and small space manipulators.According to the capture mechanisms adopted,the end-effectors are systematically analyzed.Furthermore,the ground verification facilities used to simulate a microgravity environment are summarized and compared.Additionally,the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four aspects.Finally,the development trends of the structures,verification,and calibration technologies are discussed to extend this review work. | DING XiLun WANG YeCong WANG YaoBing XU Kun | 2021 | Science China(Technological Sciences)2021，64，3： | 14 |
| 4 | Typical Gait Analysis of a Six-legged Robot in the Context of Metamorphic Mechanism Theory显示文摘The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Four typical tripod period gaits of a radial symmetrical six-legged robot are analyzed. Similar to the metamorphic mechanism, the locomotion of multi-legged robot is considered as a series of varying hybrid serial-parallel mechanisms by assuming the constraints of the feet on the ground with hinges. One gait cycle is divided into several periods, and in different walking period there is a specific equivalent mechanism corresponding to it, and the walking process of multi-legged robot is composed by these series of equivalent mechanisms. Walking performance can be got by analyzing these series of equivalent mechanisms. Kinematics model of the equivalent mechanism is established, workspaces of equivalent mechanisms are illustrated by simulation and a concept of static stability workspace is proposed to evaluate the static stability of these four gaits. A new method to calculate the stride length of multi-legged robots is presented by analyzing the relationship between the workspace of two adjacent equivalent parallel mechanisms in one gait cycle. The stride lengths of four gaits are given by simulations. Comparison of stride length and static stability among these four typical tripod gaits are given. It has been proved that mixed gait and insect-wave gait II have better static stability than mammal kick-off gait and insect-wave gait I. Insect-wave gait II displays its advantage on stride length while the height of robot body lower than 87 mm, mammal kick-off gait has superiority on stride length while the height of robot body higher than 115 mm, and insect-wave gait I shows its shortcoming in stride length. The proposed method based on metamorphic theory and combining the footholds and body height of robot provides a new method to comprehensive analyze the performance of multi-legged robot. | XU Kun DING Xilun | 2013 | Chinese Journal of Mechanical Engineering2013，26，4： | 12 |
| 5 | Dynamics and Wheel's Slip Ratio of a Wheel-legged Robot in Wheeled Motion Considering the Change of Height显示文摘The existing research on dynamics and slip ratio of wheeled mobile robot (WMR) are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS-Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS-Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified. Moreover, the relative horizontal motion between fore?hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore?hind wheels become larger?smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height. | DING Xilun LI Kejia XU Kun | 2012 | Chinese Journal of Mechanical Engineering2012，25，5： | 12 |
| 6 | Wheel-legged Hexapod Robots:a Multifunctional Mobile Manipulating Platform显示文摘Robots are widely used to replace people in some burdensome or harmful are eas.Not only the moving a bility but also the manipulating ability is needed in the missions of complex multitasking requirements.In the last decades,wheel-legged hexapod robots are extensively studied to meet this condition.Multi-legged robot can move on the discrete terrain and | Ding Xilun Zheng Yi Xu Kun | 2017 | Chinese Journal of Mechanical Engineering2017，30，1： | 9 |
| 7 | Study on the Behavior of Solar Array Deployment with Root Hinge Drive Assembly显示文摘In this paper, a method of using a root hinge drive assembly (RHDA) to control the solar array deployment is provided and a multi-DOF mechanism dynamic model of the system is established. In this way, the root hinge torque can be calculated iteratively. Then taking the predicted torque as a reference, a RHDA is designed for a large multiple-stage packaging and deployable solar array system. The control effect of the drive assembly is validated by ground tests. The test results indicate that the solar arrays can be deployed smoothly, and the deployment velocities are restricted by the drive assembly as expected. During the tests, the RHDA output speed and output torque are obtained. In order to examine the impact force when the yoke is lock-up with a hard stop, dynamics simulations are performed according to the actual behavior. The simulation result indicates that the designed RHDA reduces the impact force significantly and improves the lock-up reliability effectively. | DING Xilun LI Xin XU Kun YANG Qiaolong PU Hailing | 2012 | Chinese Journal of Aeronautics2012，25，2： | 6 |
| 8 | An optimization method for metamorphic mechanisms based on multidisciplinary design optimization显示文摘The optimization of metamorphic mechanisms is different from that of the conventional mechanisms for its characteristics of multi-configuration. There exist complex coupled design variables and constraints in its multiple different configuration optimization models. To achieve the compatible optimized results of these coupled design variables, an optimization method for metamorphic mechanisms is developed in the paper based on the principle of multidisciplinary design optimization(MDO). Firstly, the optimization characteristics of the metamorphic mechanism are summarized distinctly by proposing the classification of design variables and constraints as well as coupling interactions among its different configuration optimization models. Further, collaborative optimization technique which is used in MDO is adopted for achieving the overall optimization performance. The whole optimization process is then proposed by constructing a two-level hierarchical scheme with global optimizer and configuration optimizer loops. The method is demonstrated by optimizing a planar five-bar metamorphic mechanism which has two configurations,and results show that it can achieve coordinated optimization results for the same parameters in different configuration optimization models. | Zhang Wuxiang Wu Teng Ding Xilun | 2014 | Chinese Journal of Aeronautics2014，27，6： | 6 |
| 9 | Design and Stability of Operating Mechanism for a Spacecraft Hatch显示文摘This article introduces the working principles of a spacecraft hatch including its operating process and moving trajectory.On this basis,an operating mechanism is designed to execute automatic open and close action of the hatch and measure the operating torques.Analysis on the mechanism's configuration and topological structure of each phase of movement proves that it is a typical variable freedom mechanism.The mechanism manipulates the hatch in accordance with the moving trajectory requirements through configuration transformation.Kinematic analysis and simulation of some typical configurations show that the velocity differences among mechanism components themselves and the components and their abutting components could exert influences on its working stability during configuration transformation.To solve the problem,stability conditions of configuration transformation are proposed.Appropriate control models are established for the output velocity curves of the driving servo motor and solved based on the stability conditions and rules of movement.Results from another simulation demonstrate that the proposed control models ensure smooth configuration transform and stable operation. | Zhang Wuxiang Ding Xilun Dai Jiansheng | 2009 | Chinese Journal of Aeronautics2009，22，4： | 6 |
| 10 | Optimizing accuracy of a parabolic cylindrical deployable antenna mechanism based on stiffness analysis显示文摘Accuracy of the fitted surface is of great importance to the performance of deployable antennas utilized in space.This paper proposes a stiffness analysis based fitting accuracy optimization method for achieving the optimal parameters of the parabolic cylindrical deployable antenna mechanism.The stiffness matrix of the proposed cylindrical antenna mechanism is established by assembling the stiffness of beams and tension cables.Structural deformations of the mechanism are calculated where the tensioned cable is substituted by a 2-node truss element and an equivalent force acting on the joint.Consideration of the tensity of tension cables,namely tensioned or slack,is transformed into a typical linear complementarity problem.Comparison between structural deformations of the mechanism fixed at different points is performed.Sensitivities of the geometric and structural parameters on fitting accuracy are investigated.Influence of force of the driven cable on structural deformations of antenna operated in different orbits is conducted.A fitting optimization method is proposed to minimize the structural deformations subject to constraints on volume and mass.Simulation result shows that the fitting accuracy of the antenna mechanism is improved significantly through the optimization.The proposed method can be utilized for the optimal design of other deployable mechanisms constructed by joining rigid links. | Hang XIAO Shengnan LYU Xilun DING | 2020 | Chinese Journal of Aeronautics2020，33，5： | 6 |
| 11 | Quaternion-based Nonlinear Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle显示文摘At present, most controllers of quadrotor unmanned aerial vehicles(UAVs) use Euler angles to express attitude. These controllers suffer a singularity problem when the pitch angle is near 90?, which limits the maneuverability of the UAV. To overcome this problem, based on the quaternion attitude representation, a 6 degree of freedom(DOF) nonlinear controller of a quadrotor UAV is designed using the trajectory linearization control(TLC) method. The overall controller contains a position sub-controller and an attitude sub-controller. The two controllers regulate the translational and rotational motion of the UAV, respectively. The controller is improved by using the commanded value instead of the nominal value as the input of the inner control loop. The performance of controller is tested by simulation before and after the improvement, the results show that the improved controller is better. The proposed controller is also tested via numerical simulation and real flights and is compared with the traditional controller based on Euler angles. The test results confirm the feasibility and the robustness of the proposed nonlinear controller. The proposed controller can successfully solve the singularity problem that usually occurs in the current attitude control of UAV and it is easy to be realized. | ZHA Changliu DING Xilun YU Yushu WANG Xueqiang | 2017 | Chinese Journal of Mechanical Engineering2017，30，1： | 5 |
| 12 | Gait Analysis of a Radial Symmetrical Hexapod Robot Based on Parallel Mechanisms显示文摘Most gait studies of multi-legged robots in past neglected the dexterity of robot body and the relationship between stride length and body height.This paper investigates the performance of a radial symmetrical hexapod robot based on the dexterity of parallel mechanism.Assuming the constraints between the supporting feet and the ground with hinges,the supporting legs and the hexapod body are taken as a parallel mechanism,and each swing leg is regarded as a serial manipulator.The hexapod robot can be considered as a series of hybrid serial-parallel mechanisms while walking on the ground.Locomotion performance can be got by analyzing these equivalent mechanisms.The kinematics of the whole robotic system is established,and the influence of foothold position on the workspace of robot body is analyzed.A new method to calculate the stride length of multi-legged robots is proposed by analyzing the relationship between the workspaces of two adjacent equivalent parallel mechanisms in one gait cycle.Referring to service region and service sphere,weight service sphere and weight service region are put forward to evaluate the dexterity of robot body.The dexterity of single point in workspace and the dexterity distribution in vertical and horizontal projection plane are demonstrated.Simulation shows when the foothold offset goes up to 174 mm,the dexterity of robot body achieves its maximum value 0.164 4 in mixed gait.The proposed methods based on parallel mechanisms can be used to calculate the stride length and the dexterity of multi-legged robot,and provide new approach to determine the stride length,body height,footholds in gait planning of multi-legged robot. | XU Kun DING Xilun | 2014 | Chinese Journal of Mechanical Engineering2014，27，5： | 5 |
| 13 | Design and Test Analysis of a Solar Array Root Hinge Drive Assembly显示文摘A root hinge drive assembly is preferred in place of the classical viscous damper in a large solar array system.It has advantages including better deployment control and higher reliability.But the traditional single degree of freedom model should be improved.A multiple degrees of freedom dynamics model is presented for the solar arrays deployment to guide the drive assembly design.The established model includes the functions of the torsion springs,the synchronization mechanism and the lock-up impact.A numerical computation method is proposed to solve the dynamics coupling problem.Then considering the drive torque requirement calculated by the proposed model,a root hinge drive assembly is developed based on the reliability engineering design methods,and dual actuators are used as a redundancy design.Pseudo-efficiency is introduced and the major factors influencing the(pseudo-)efficiency of the gear mechanism designed with high reduction ratio are studied for further test data analysis.A ground prototype deployment test is conducted to verify the capacity of the drive assembly.The test device consists of a large-area solar array system and a root hinge drive assembly.The RHDA development time is about 43 s.The theoretical drive torque is compared with the test values which are obtained according to the current data and the reduction efficiency analysis,and the results show that the presented model and the calibration methods are proper enough. | DING Xilun LI Xin | 2014 | Chinese Journal of Mechanical Engineering2014，27，5： | 3 |
| 14 | Gait Analysis of Quadruped Robot Using the Equivalent Mechanism Concept Based on Metamorphosis显示文摘The previous research regarding the gait planning of quadruped robot focuses on the sequence for lifting o and placing the feet, but neglects the influence of body height. However, body height a ects gait performance significantly, such as in terms of the stride length and stability margin. We herein study the performance of a quadruped robot using the equivalent mechanism concept based on metamorphosis. Assuming the constraints between standing feet and the ground with hinges, the ground, standing legs and robot body are considered as a parallel mechanism, and each swing leg is regarded as a typical serial manipulator. The equivalent mechanism varies while the robot moves on the ground. One gait cycle is divided into several periods, including step forward stages and switching stages. There exists a specific equivalent mechanism corresponding to each gait period. The robot's locomotion can be regarded as the motion of these series of equivalent mechanisms. The kinematics model and simplified model of the equivalent mechanism is established. A new definition of the multilegged robot stability margin, based on friction coe cient, is presented to evaluate the robot stability. The stable workspaces of the equivalent mechanism in the step forward stage of trotting gait under di erent friction coe cients are analyzed. The stride length of the robots is presented by analyzing the relationship between the stable workspaces of the equivalent mechanisms of two adjacent step forward stages in one gait cycle. The simulation results show that the stride length is larger with increasing friction coe cient. We herein propose a new method based on metamorphosis, and an equivalent mechanism to analyze the stability margin and stable workspace of the multilegged robot. | Kun Xu Peijin Zi Xilun Ding | 2019 | Chinese Journal of Mechanical Engineering2019，32，1： | 3 |
| 15 | Design and experimental performance verification of a thermal property test-bed for lunar drilling exploration显示文摘Chinese Chang'e lunar exploration project aims to collect and return subsurface lunar soil samples at a minimum penetration depth of 2 m in 2017. However, in contrast to those on the Earth, automated drilling and sampling missions on the Moon raise the risk of burning bits.Test-beds are required for testing the thermal properties of drill tools in a lunar environment. In this paper, a novel temperature measuring method based on thermocouples and a slip ring was proposed. Furthermore, a data acquisition system for a drilling process was designed. A vacuous,cryogenic, and anhydrous soil environment simulating the lunar surface was established. A drilling test-bed that can reach a depth of 2.2 m was developed. A control strategy based on online monitoring signals was proposed to improve the drilling performance. Vacuum and non-vacuum experiments were performed to test the temperature rising effect on drill tools. When compared with the non-vacuum experiment, the vacuum temperature rise resulted in a 12 °C increase. These experimental results provide significant support for Chinese lunar exploration missions. | Zhang Tao Zhao Zeng Liu Shuting Li Jinglin Ding Xilun Yin Shen Wang Guoxin Lai Xiaoming | 2016 | Chinese Journal of Aeronautics2016，29，5： | 3 |
| 16 | Influence of lunar regolith compressibility on sampling performance of thick wall spiral drills显示文摘A 2 m class robotic drill was sent to the Moon and successfully collected and returned regolith samples in late 2020 by China.It was a typical thick wall spiral drill(TWSD)with a hollow auger containing a complex coring system to retain subsurface regolith samples.Before the robotic drill was launched,a series of laboratory tests were carried out to investigate and predict the possible drilling loads it may encounter in the lunar environment.This work presents how the sampling performance of the TWSD is affected by the regolith compressibility.Experiments and analysis during the drilling and sampling process in a simulated lunar regolith environment were conducted.The compressibility of a typical lunar regolith simulant(LRS)was measured through unidirectional compression tests to study the relationship between its inner regolith stress and bulk density.A theoretical model was established to elucidate the cutting discharge behavior by auger flights based on the aforementioned relationship.Experiments were conducted with the LRS,and the results show that the sampling performance is greatly affected by the flux of the drilled cuttings into the spiral flight channels.This work helped in scheduling reasonable drilling parameters to promote the sampling performance of the robotic drill in the Chinese Chang’E 5 mission. | Yong PANG Tao ZHANG Hongyu WEI Ting ZENG Yinliang ZHANG Guidong MO Kun XU Shen YIN Guoxin WANG Xingwang ZHANG Xiaoming LAI Xilun DING | 2023 | Chinese Journal of Aeronautics2023，36，2： | 2 |
| 17 | Recent development on innovation design of reconfigurable mechanisms in China显示文摘Reconfigurable mechanisms can deliberately reconfigure themselves by rearranging the connectivity of components to meet the different requirements of tasks.Metamorphic and origami-derived mechanisms are two kinds of typical reconfigurable mechanisms,which have attracted increasing attention in the field of mechanisms since they were proposed.Improving the in dependent design level,innovation,and international competitive powers of reconfigurable mechanical products is important.Summarizing related significant innovation research and application achievements periodically will shed light on research directions and promote academic exchanges.This paper presents an overview of recent developments in innovation design of reconfigurable mechanisms in China,including metamorphic and origami mechanisms and their typical applications.The future development trends are analyzed and forecasted. | Wuxiang ZHANG Shengnan LU Xilun DING | 2019 | Frontiers of Mechanical Engineering2019，14，1： | 2 |
| 18 | Screw Theory on Spa- tial Stiffness Analysis of Robots with Elastic Joints and Links显示文摘 | Ding Xilun Selig Jon Mark | 2004 | The Official Journal of Chinese Me- chanical Engineering Society2004，，： | 1 |
| 19 | Overview of current design and analysis of potential theories for automated fibre placement mechanisms显示文摘Automated fibre placement(AFP) systems have successfully intensified the demand for high-quality composite component manufacturing in both the military and civilian fields. One of the main elements of these systems is the AFP mechanism for accomplishing individual fibre delivery,clamp/cut/restart(CCR) and the consolidation process, and it consists of several functional submechanisms presenting strong coupling relationships and motion sequences. This review aims to summarize the development of AFP mechanisms and the associated research achievements and provide insight into the research challenges in promoting innovative design in such mechanisms. The systematic development of AFP systems is reviewed in detail, and subsequently, engineering tendency and the general principle of AFP mechanisms are introduced. Focusing on the mechanism design of AFP sub-mechanisms, including the creel assembly CCR and compaction mechanisms,the mechanical schemes as well as the AFP process parameter control are discussed. To improve system reliability and fully optimise AFP mechanisms, the essential theoretical foundation for AFP mechanisms are provided. It is believed that this attempt will help to change the design and optimisation of similar complete mechanisms. Based on the reviewed research, overall remarks and perspectives are presented to serve as a guide for exploring the possibility of novel easy-to-use and cost-effective integrated AFP applications. | Wuxiang ZHANG Fei LIU Tao JIANG Minghui YI Weiqiang CHEN Xilun DING | 2022 | Chinese Journal of Aeronautics2022，35，4： | 1 |
| 20 | Novel deployable mechanisms with decoupled degrees-of-freedom显示文摘 | LU Shengnan ZLATANOV Dimiter DING Xilun | 2016 | ASME Journal of Mechanisms and Robotics2016，8，02： | 1 |
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