Chen Qiu

Hangzhou Normal University

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Jian S. Dai

Southern University of Science and Technology

Huixu Dong

Zhejiang University

I–Ming Chen

Nanyang Technological University

Ketao Zhang

Imperial College London

Kaspar Althoefer

Queen Mary University of London

Peng Qi

Tongji University

Hongbin Liu

Institute of Agricultural Resources and Regional Planning

Dilip K. Prasad

UiT The Arctic University of Norway

Haoyong Yu

National University of Singapore

Maja Rudolph

Robert Bosch (United States)

Cooperative Institutions

Tohoku University

King's College London

Commissariat à l'Énergie Atomique et aux Énergies Alternatives

Nanyang Technological University

Tianjin University

Université Paris-Saclay

CEA Paris-Saclay

Robotics Research (United States)

Université de Versailles Saint-Quentin-en-Yvelines

Laboratoire des Sciences du Climat et de l'Environnement

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Constraint-Based Design and Analysis of a Compliant Parallel Mechanism Using SMA-Spring Actuators

Chen Qiu Ketao Zhang Jian S. Dai

This paper presents a novel compliant parallel mechanism that utilizes shape-memory-alloy (SMA) spring based actuators. By employing SMA coil springs, the traditional line constraint that resists translation along its axis but no other forms of motions is transformed into a linear actuator that can generate deflection along its axis, which leads to the design of SMA-spring linear actuators. In accordance with this SMA actuator, an constraint-based approach in the framework of screw theory is utilized to synthesize the constraint and actuation space of parallel mechanisms, and a novel 4 DOF parallel platform is developed based on this analytical approach. A physical prototype is manufactured by employing the SMA-spring actuators, and its mobility and workspace are verified with both finite element simulation and experiment observations. The results illustrate this parallel mechanism has a large workspace in all desired mobility configurations. The presented work on the parallel platform demonstrates the efficiency of the constraint-based approach in determining the layout of actuation systems, also the developed SMA actuators pave a new way for applying the SMA technique in the future development of compliant parallel mechanisms and robotics.

Work space

Coil spring

Screw theory

Linear actuator

Voice coil

10.1115/detc2014-34605

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Citations (3)

A repelling-screw-based approach for the construction of generalized Jacobian matrices for nonredundant parallel manipulators

Mechanism and Machine Theory (2022)

Kun Wang Huixu Dong Emmanouil Spyrakos-Papastavridis Chen Qiu Jian S. Dai

Wrench

Serial manipulator

Screw theory

Hexapod

10.1016/j.mechmachtheory.2022.105009

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Citations (7)

Enabling grasp action: Generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight

Mechanism and Machine Theory (2019)

Huixu Dong Chen Qiu Dilip K. Prasad Ye Pan Jian S. Dai

10.1016/j.mechmachtheory.2019.01.019

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Citations (19)

Introduction to WeChat Interface Design Localization

Proceedings of the 6th International Conference on Education, Language, Art and Inter-cultural Communication (ICELAIC 2019) (2017)

Xun Yuan Chen Qiu

With the development of The Times, people use social software not only for their purpose and convenience, but also to pay more attention to the visual experience.WeChat is a social software that has been developing rapidly in the past two years, and its visual design directly affects user's satisfaction.Combining the modern design with the local style, the Chinese charm can be reflected and promoted as well as another inheritance of traditional culture.

Interface (matter)

Interface design

10.2991/icelaic-17.2017.123

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Citations (2)

Construction of Interaction Parallel Manipulator: Towards Rehabilitation Massage

IEEE/ASME Transactions on Mechatronics (2022)

Huixu Dong Yue Feng Chen Qiu I‐Ming Chen

A massage robot can aid physicians in treating occupational diseases. While massaging, a robotic manipulator is required to continuously exert desired force according to the predefined motion pattern on a body surface. The complexity of the mechanical and control system, high cost, and heavy structure of the existing massage robots result in the limitation of widespread applications at home or small clinics, and some of which can just implement a single massage task. This becomes even more challenging how to integrate multiple massage functions into one robotic system deployed at home or small clinics. To tackle the abovementioned problems, we propose a parallel-mechanism-enabled massage end-effector with compliant joints based on the series elastic actuators, offering a unified force-position control approach and enabling to easily coordinate multiple degrees of freedom. First, the kinematic and static force models are established for obtaining the corresponding control variables. Then, a novel force-position control strategy is proposed to separately control the force-position along the normal direction of the surface and another two-direction displacements, without the requirement of a robotic dynamics model. To evaluate the performance of the proposed massage manipulator, we implement a series of robotic massage experiments and also, carry out a user study. The corresponding results demonstrate that the proposed massage manipulator can successfully achieve desired forces and motion patterns of massage tasks, arriving at a high-score user experience.

Position (finance)

10.1109/tmech.2022.3202694

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Citations (12)

Development of the Interactive and Robust Intelligent Patient Care System

The proceedings of the JSME annual meeting (2003)

Yutaka HIROI Eiji Nakano Takayuki TAKAHASHI Shozo Makino Akinori Ito

An intelligent service robot named IRIS (Interactive, Robust and Intelligent Patient Care System) has been developed with the aim to be used mainly in a sickroom of hospital. IRIS is composed of the speaker direction identification system, the dialog system with the patient, the face recognition system, the safety manipulator and the omni-directional vehicle (ODV). It is able to recognize the patient's face, to dialogue with someone, and to execute some simple tasks such as serving a drink safely by request. The hardware system of IRIS is mainly presented in this paper.

Identification

Patient Care

IRIS (biosensor)

10.1299/jsmemecjo.2003.5.0_231

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Citations (2)

An Extensible Continuum Robot With Integrated Origami Parallel Modules

Journal of Mechanisms and Robotics (2015)

Ketao Zhang Chen Qiu Jian S. Dai

This paper presents a novel design of extensible continuum robots in light of origami-inspired folding techniques. The design starts from a modularized crease pattern, which consists of two triangular bases and three waterbomb bases, and generates a folding process for creating an origami waterbomb parallel structure. This further progresses to generating a compliant module with the origami parallel structure and a helical compression spring. A novel extensible continuum robot with the integrated compliant parallel modules is then proposed to imitate not only the bending motion but also the contraction of continuum creatures in nature. Mapping the origami parallel structure to an equivalent kinematic model, the motion characteristics of the origami structure are explored in terms of kinematic principles. The analysis reveals the mixed rotational and translational motion of the origami parallel module and the virtual axes for yaw and pitch motions. Following kinematics of the proposed continuum robot and features of the integrated helical spring in each module, three actuation schemes and resultant typical working phases with a tendon-driven system are presented. The design and analysis are then followed by a prototype of the extensible continuum robot with six integrated compliant modules connected in serial. The functionality of the proposed continuum robot with the origami parallel structure as its skeleton and the helical springs as the compliant backbone is validated by experimental results.

Extensibility

10.1115/1.4031808

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Citations (115)

Construction of Compliant Mechanisms

Springer tracts in advanced robotics (2020)

Chen Qiu Jian S. Dai

Compliant mechanism

Direct stiffness method

10.1007/978-3-030-48313-5_4

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Citations (0)

An Analytical Approach for Synthesizing Line Actuation Spaces of Parallel Flexure Mechanisms

Journal of Mechanical Design (2013)

Jingjun Yu Shouzhong Li Chen Qiu

In this study, we present an analytical approach for synthesizing line actuation spaces of a parallel flexure mechanism (PFM) that can help designers to arrange linear actuators within the PFM in a correct and optimal way. On the basis of screw theory and upon an assumption of small deformations, an important synthesis criterion stated as "any actuation space of a flexure mechanism is always linearly independent of its constraint space" has been derived and disclosed for the first time. Guided by this criterion, a general synthesis process for the line actuation spaces of PFMs is introduced and demonstrated with several selective examples. The proposed synthesis criterion and process will enable designers to (i) systematically formulate line actuation spaces in the format of screw systems; (ii) likely yield a multiple solution to actuation spaces; and (iii) potentially determine an optimal result from those alternatives for actuator placement.

Screw theory

Line (geometry)

Basis (linear algebra)

10.1115/1.4025289

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Citations (10)

Design of online monitoring system for heavy metal mercury in industrial wastewater based on ZigBee wireless network

Desalination and Water Treatment (2021)

Lijun Zhang Kecheng Liu Jinxing Yu Hesong Han Chen Qiu

Aiming at the problems of long monitoring time, low reliability of monitoring results and insufficient data collection in traditional methods, an online monitoring system for heavy metal mercury in industrial wastewater based on ZigBee wireless network was designed.According to the overall architecture of the monitoring system, the hardware modules are divided into network coordinator structure, data management and maintenance module, distributed monitoring node module and coordinator node, etc., according to the connection between each module to achieve effective heavy metal mercury pollution in industrial wastewater monitor.Based on the hardware design, the source of heavy metal mercury pollution in industrial wastewater is located, and the BP neural network is used to monitor the total discharge of heavy metal mercury pollutants in industrial wastewater.The monitoring results are displayed on the main monitoring interface to facilitate visual inspection of pollution changes.The simulation experiment results show that the system designed in this paper has obvious advantages in the monitoring time, the accuracy of the monitoring results, and the method of collecting pollution data, indicating that the system has higher application value.

Mercury

Industrial wastewater treatment

NeuRFon

10.5004/dwt.2021.27811

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Citations (1)