共被期刊论文引用了4次
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| 1 | 基于BAS-PID算法的介电弹性体执行器控制研究显示文摘由于介电弹性体构成的执行器在软体机器人驱动过程中存在黏弹性效应,使得机器人难以精准控制,提出一种天牛须搜索(beetle antennae search,BAS)算法优化PID的控制方法,实现对软体机器人的精准控制。首先,采用流变模型对介电弹性体执行器(dielectric elastomer actuator,DEA)动力学模型进行搭建;其次,利用BAS算法具有较强的全局寻优能力以及单体的寻优策略,将PID控制器参数转化为BAS算法在三维空间中的参数;最后,在迭代过程中对PID参数进行优化。实验结果表明:所提方法对正弦波、三角波的最大跟踪误差为0.95 mm和1.08 mm,相比于其他控制方法,提高了执行器的控制精度。 | 徐健 惠楠 苏泽斌 | 2021 | 西安工程大学学报2021，35，4： | 3 |
| 2 | Soft Robotics:Morphology and Morphology-inspired Motion Strategy显示文摘Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance. | Fan Xu Hesheng Wang | 2021 | IEEE/CAA Journal of Automatica Sinica2021，8，9： | 2 |
| 3 | 2019年微纳米力学热点回眸显示文摘微纳米尺度下材料的力学性能与样品的尺寸和表界面等物理量密切相关,因此纳米材料的力学性能可以在很大范围内进行高效的调节,使得纳米材料能够拥有超轻、超硬、以及高断裂强度和高韧性等卓越的力学性能。从尺度缺陷效应和生长机理、屈曲机理分析和应用、界面力学性能和应用、生物和软物质力学性能、软体机器人、机器学习等方面盘点了微纳米力学2019年取得的研究成果。 | 江进武 张田忠 | 2020 | 科技导报2020，38，1： | 0 |
| 4 | Thermoelectromechanical instability of dielectric elastomer undergoes polarization saturation and temperature variation显示文摘When the electric field caused by voltage reaches a certain level,the charge on the compliant electrodes will not increase owing to the polarization saturation,which would limit the deformation of the dielectric elastomer.Some experiments show that temperature also has a significant effect on the deformation of dielectric elastomer.In this work,a free energy model coupling temperature and polarization saturation is developed to characterize the thermoelectromechanical instability of dielectric elastomer.The results reveal that both the polarization saturation parameters and electric field have a significant influence on the actuation ability of the dielectric elastomer,and the increase of temperature enhances thermoelectromechanical stability.It is hoped that this work could guide the development of dielectric elastomer materials and application devices operating in variable temperatures. | Yaguang Guo Liwu Liu Yanju Liu Jinsong Leng | 2021 | Acta Mechanica Sinica2021，37，3： | 0 |
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