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Modeling and Control of a Magnus-effect-based Ducted Fan Aerial Vehicle
Qingming Hou,Hongzhe Jin,Yanhe Zhu,Yongsheng Gao,Jie Zhao 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.4
A ducted fan aerial vehicle model using Magnus effect steering engine is proposed in this paper. This model utilizes a steering engine that comprises four cylinders that are symmetrically installed at the aft inside the duct. Interaction between the spinning cylinder surface and the duct jet flow causes the aerodynamic lift proportional to angular velocity of the cylinder. Therefore, operating range of the aerodynamic lift is guaranteed to be sufficiently wide. The efficiency of the proposed method is confirmed via numerical simulations on integrated flight dynamics developed in this study.
Design and evaluation of a 7-DOF cable-driven upper limb exoskeleton
Feiyun Xiao,Yongsheng Gao,Yong Wang,Yanhe Zhu,Jie Zhao 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.2
This paper presents a seven degrees of freedom cable-driven upper limb exoskeleton (CABXLexo-7), which is compact, lightweight, and comfortable for post-stroke patients. To achieve the compactness of exoskeleton, two types of cable-driven differential mechanisms were designed. The cable-conduit mechanisms were applied to transmit the power of motors mounted on the backboard to the corresponding joints, then the whole weight of the exoskeleton could be light to ensure a comfortable motion assistance. In the course of experiments, the surface electromyography signals of major muscles related with the movements of upper limb were collected to evaluate the assistant ability of exoskeleton. The experimental results showed that the activation levels of corresponding muscles were reduced by using the seven degrees of freedom cable-driven upper limb exoskeleton in the course of rehabilitation, and it demonstrated that the exoskeleton can provide effective movements assistance to the post-stroke patients.
Gravity balance mechanism for a spatial robotic manipulator
Yanyan Chen,Yubin Liu,Changle Li,Gangfeng Liu,Yanhe Zhu,Jie Zhao,Hegao Cai 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.2
A gravity balance mechanism for spatial robotic manipulator is proposed. In this design, a parallelogram linkage mechanism, pulleys and springs are utilized to accomplish the balance. As a passive structure, it needs no motors or actuators, and safety is another great highlight of the mechanism. The balance mechanism can solve the balance problem of both planar 2-link mechanism and spatial 2-link mechanism (a roll-pitch-yaw-roll 2-link mechanism) by adding a rotational degree of freedom. This is a more simple and effective method to solve the balance problem of spatial linkage system, especially the linkage system of multi-degree of freedom joint. And the mechanism can be extended to solve a multilink balance problem.