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USV自主回收UUV动力学特性研究 学位论文
博士, 沈阳: 中国科学院沈阳自动化研究所, 2020
Authors:  孟令帅
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自主回收  动力学  水下对接  绳索振动  碰撞  
六杆张拉整体机器人斜坡运动分析 学位论文
硕士, 沈阳: 中国科学院沈阳自动化研究所, 2020
Authors:  赵凯凯
Adobe PDF(3255Kb)  |  Favorite  |  View/Download:18/3  |  Submit date:2020/06/27
六杆张拉整体机器人  斜坡滚动方向预测  静态坡面分析  有限元方法  ODE仿真  
A hybrid continuum robot based on pneumatic muscles with embedded elastic rods 期刊论文
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2020, 卷号: 234, 期号: 1, 页码: 318-328
Authors:  Sun CJ(孙慈晶);  Chen LS( 陈丽莎 );  Liu JG(刘金国);  Dai JS(戴建生);  Kang RJ(康荣杰)
View  |  Adobe PDF(988Kb)  |  Favorite  |  View/Download:266/75  |  Submit date:2019/03/09
Continuum robots  hybrid actuation  pneumatic muscles  elastic rods  variable stiffness  statics model  
Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness 期刊论文
International Journal of Robotics Research, 2020, 页码: 1-15
Authors:  Yang CH(杨铖浩);  Geng SN(耿仕能);  Walker, Ian;  Branson, David T;  Liu JG(刘金国);  Dai JS(戴建生);  Kang RJ(康荣杰)
Adobe PDF(2771Kb)  |  Favorite  |  View/Download:65/19  |  Submit date:2020/05/03
Soft continuum robot  variable stiffness  statics model  geometric constraint  
Dynamics calculation for variable-length underwater cable with geometrically nonlinear motion 期刊论文
Ocean Engineering, 2020, 卷号: 212, 页码: 1-19
Authors:  Quan WC(全伟才);  Chang, Qingqing;  Zhang QF(张奇峰);  Gong, Jun
View  |  Adobe PDF(2364Kb)  |  Favorite  |  View/Download:24/10  |  Submit date:2020/08/01
Variable-length  Underwater cable  Dynamics calculation  Nonlinear finite element  Geometrically nonlinear motion  
A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force 期刊论文
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2020, 卷号: 12, 期号: 4, 页码: 1-11
Authors:  Li JH(李建华);  Zhou YY(周圆圆);  Wang CY(王重阳);  Wang ZD(王志东);  Liu H(刘浩)
View  |  Adobe PDF(1297Kb)  |  Favorite  |  View/Download:33/9  |  Submit date:2020/08/28
tendon-driven continuum manipulator  shape prediction  model-based  external force  friction  hysteresis  cable-driven mechanisms  medical robotics  
Development of a Wheeled and Wall-pressing Type In-Pipe Robot for Water Pipelines Cleaning and its Traveling Capability 期刊论文
MECHANIKA, 2020, 卷号: 26, 期号: 2, 页码: 134-145
Authors:  Feng GH(冯冠华);  Li WH(李文皓);  Li ZG(李智刚);  He Z(何震)
View  |  Adobe PDF(844Kb)  |  Favorite  |  View/Download:29/8  |  Submit date:2020/07/11
wheeled and wall-pressing type in-pipe cleaning robot (IPCR)  preload mechanism  traction force  obstacle-overcoming capability  simplified vibration system  
Survey on research and development of on-orbit active debris removal methods 期刊论文
SCIENCE CHINA-TECHNOLOGICAL SCIENCES, 2020, 页码: 1-23
Authors:  Zhao PY(赵鹏远);  Liu JG(刘金国);  Wu CC(吴晨晨)
View  |  Adobe PDF(16190Kb)  |  Favorite  |  View/Download:22/3  |  Submit date:2020/10/18
space debris  active debris removal  on-orbit servicing  space robotics  capture method  
DAMPING AND PROTECTION STRUCTURE SIMULATING C60 MOLECULAR STRUCTURE 专利
专利类型: 发明, 专利号: WO2019128853A1, 公开日期: 2019-07-04,
Inventors:  Liu JG(刘金国);  Shen XH(沈昕慧);  Zhang PW(张朋伟);  Ding J(丁建)
Adobe PDF(617Kb)  |  Favorite  |  View/Download:49/6  |  Submit date:2019/12/14
Kinematic optimization of tendon-sheath actuated hand 会议论文
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, December 6-8, 2019
Authors:  Yin M(尹猛);  Han W(韩伟);  Xu ZG(徐志刚);  Wu HT(吴浩廷);  Zhao ZL( 赵志亮)
Adobe PDF(1995Kb)  |  Favorite  |  View/Download:79/16  |  Submit date:2020/02/23
Dexterous hand  Decoupling degrees of freedom  Minimum singular value  Relative shape closure