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Mobility properties analyses of a wall climbing hexapod robot
Bin He,Shoulin Xu,Yanmin Zhou,Zhipeng Wang 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.3
In this paper, we investigate the Degree of freedom (DOF), workspace and singularity of a wall climbing hexapod robot. The robot has two typical working modes, which are the six or three legs attaching on the wall, so robot can be regarded as 6SRRR or 3SRRR parallel mechanism, respectively. First, the DOF of the robot is analyzed by the screw theory. The result indicates that two configurations of the robot possess 6-DOF, and the screw theory makes the calculation of the DOF become extremely simple. Moreover, the workspace of the robot body is studied with constraint equations, which obtains the influence of structural parameters on workspace. After that, a new simple Jacobian matrix is proposed to analyze the singularity, and obtain the singular configurations of the robot, which greatly simplifies the calculation of Jacobian matrix of the robot. Finally, by experiments to verify that the singularity analysis method is correct. The singularity analysis of this paper could be applied for effective control of the robot to avoid singular configurations.
Product Model Integrated with Carbon Footprint for Lowcarbon Design
Bin He,Wen Tang,Jun Wang 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
Greenhouse gas emission has become a recent global concern for green manufacturing. As the production is one of the main greenhouse gas emission sources, more and more researches have recently begun to pay attention to product low-carbon design. However, the traditional product modeling is easy to produce an obstacle for low-carbon design and lack of an effective integrated modeling approach to support knowledge reuse in product low-carbon design. This paper is devoted to presenting product model integrated with carbon footprint. After the carbon footprint meta-model is proposed, the product model integrated with carbon footprint for low-carbon design is proposed. And the corresponding modeling principles for product model are also discussed in detail. The product model of a magneto-rheological fluid absorber integrated with carbon footprint is used to demonstrate the proposed methodology.
Product Low-Carbon Design using Dynamic Programming Algorithm
Bin He,Shan Huang,Jun Wang 한국정밀공학회 2015 International Journal of Precision Engineering and Vol.2 No.1
Greenhouse gas emission has become a recent global concern for green manufacturing. As product low-carbon design is an essential approach to achieve low-carbon manufacturing, which has a profound effect on the product carbon footprint, many researches have been focused on it in recent years with a result of valuable contributions. This paper is devoted to presenting a dynamic programming-based approach to product low-carbon design. After product low-carbon design is characterized by a multi-stage decision process with interaction effects on each other in the product life cycle, a dynamic programming method is used to optimize the total carbon footprint of each stage while considering interaction effects of solutions at each stage in product life cycle. The low-carbon design of a cold heading machine is used to demonstrate the proposed methodology.
Bin He,Ya-Li Mao,Ya Zhang,WEI YIN,CHANGJUN HOU,DANQUN HUO,Huanbao Fa 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2017 NANO Vol.12 No.4
A highly sensitive and selective biomimetic sensor based on zinc porphyrin molecularly imprinted Polymer microspheres (MIPMs), gold nanoparticles (AuNPs) and carboxyl graphene (CG) nanomaterials was successfully developed for direct electrochemical detection of methyl parathion (MP). The novel strategy emphasized the fabrication of a porphyrin zinc-based sensor via attaching MIPMs on AuNPs/CG nanocomposites. MIPMs was prepared by free radical polymerization using MP as the template, Zinc porphyrin as the functional monomer, ethylene glycol dimethacrylate (EGDMA) as the cross-linking reagent and azobisisobutyronitrile (AIBN) as the initiator. The introduction of AuNPs/CG significantly increased the effective electrode area, and amplified the sensor signal. The modified electrode was characterized by cyclic voltammetry (CV) and differential pulse voltammetry (DPV). The parameters of the detection process were also optimized. The biomimetic sensor exhibits a much wider linear dynamic range between 1.0 x 10 -6 mol L-1 and 8.0 x 10 -9 mol L-1 and the limit of detection (LOD) down to 3.16 x 10 -10 mol L-1 based on S/N = 3. The sensor had good reproducibility, stability and selectivity for MP detection. The developed sensor was successfully employed for the detection of MP in real samples.
Synthesis of Mechanisms Integrated with Motion and Force Transformation
Bin He,Yicheng Hua 한국정밀공학회 2016 International Journal of Precision Engineering and Vol.17 No.12
The synthesis of mechanisms has an important effect in the product development. A mechanism has two basic kinds of functions, i.e. to transform motion and to transform force. However, current methods always focus on either motion synthesis or force synthesis. The paper proposed a dynamic programming-based synthesis of multi-input or multi-output mechanisms with the simultaneous consideration of motion and force transmission. A general function model is proposed with a result of function matrix of mechanisms. After the solving process of single input and single output (SISO) system using dynamic programming algorithm is proposed, the single input and multiple outputs (SIMO) system, and the multiple inputs and single output system (MISO) are also discussed in detail, together with design evaluation. The synthesis of mechanisms for jacking up system in offshore platform is taken as an example, which demonstrates that the methodology is helpful to produce valuable mechanisms.
Product Safety Risk Assessment Approach to Sustainable Design
Bin He,Jiachi Wu,Jinglong Xiao 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.10 No.3
As a renewable and clean energy source, marine wind power has become an important direction. However, there are few studies on the safety risk assessment of offshore platforms from the design stage. Therefore, based on the project of the 2000-ton offshore wind power installation platform, the risk characteristics of the offshore platform during the design stage have been systematically studied. This paper is to take the safety assessment process of the offshore wind power installation platform design stage as an example, to devote to the general method of exploring the safety assessment of the offshore platform, quantify the load on the offshore platform under various working conditions, and calculate the strength. The impact of the safety assessment has a good guiding significance in solving how the ocean platform can achieve sustainable development from the design stage. The results validate the effectiveness of the proposed method.