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Li B.,Harbin Institute of Technology | Li B.,Shenzhen Key Laboratory of Advanced Manufacturing Technology | Zhao W.,Shenzhen Polytechnic | Wang S.,Harbin Institute of Technology | And 3 more authors.
JVC/Journal of Vibration and Control | Year: 2016

In this study, a novel five-dimensional hybrid manipulator applied to multi-dimensional (MD) vibration isolation is proposed, a semi-active fuzzy optimal control model is established and the performance of the isolator is validated by the MD vibration isolation experiments. In the hybrid manipulator, the translations and rotations of the manipulator are decoupled and each actuator is replaced by a subsystem combining a magnetorheological (MR) damper with a spring to realize the spatial MD vibration isolation. The primary structure of this MD vibration isolation system (VIS) or multi-dimensional vibration isolation system (MDVIS) is described and the relating isolation principle is explained. Consequently, the closed dynamic model is established so that a fuzzy control model is built to implement vibration control. In the control model, the optimal damping force is obtained from an H state feedback control strategy, and the actual output force of the MR damper is determined with a kinematics parameters in every limb according to the work principle of the MR damper. In addition, a Takagi-Sugeno fuzzy model is obtained by a genetic algorithm to obtain the input current of the MR damper. To validate the VIS performance, an MD vibration isolation platform (VIP) or multi-dimensional vibration isolation platform (MDVIP) prototype is developed to study the vibration isolation performance. Finally, vibration experiments with sinusoidal and random excitations in translational direction are conducted. Ultimately, the measurement results of vibration acceleration validate the effectiveness of the hybrid vibration isolator and its control strategy. © The Author(s) 2014.

Zhao W.,Harbin Institute of Technology | Yang X.,Harbin Institute of Technology | Li B.,Harbin Institute of Technology | Li B.,State Key Laboratory of Robotics and System HIT | And 2 more authors.
International Journal of Robotics and Automation | Year: 2013

A multi-dimensional (MD) semi-active vibration isolator for vehicular device is presented in this paper. The isolator is established based on a parallel mechanism with three limbs, each limb includes a sub-system which is composed of a magnetorheological (MR) damper and a linear spring. Then a semi-active fuzzy optimal control method is proposed to reduce the vibration acceleration of the vehicular device. The H∞ controller and the control strategy of MR damper are designed to get the possible output force of the MR damper. As the inverse dynamics of the MR damper is highly nonlinear, the T-S fuzzy model is obtained by genetic algorithm to identify the damper's input current. In addition, a new encoding method is developed when training the fuzzy model to optimize the inputs selection, the rules selection and the antecedentmembership function (MF) parameters simultaneously. Simulation results show that utilizing the presented vibration isolator can significantly reduce the MD vibration response of the vehicular device.

Huang H.,Harbin Institute of Technology | Huang H.,Shenzhen Key Laboratory of Advanced Manufacturing Technology | Li B.,Harbin Institute of Technology | Li B.,Shenzhen Key Laboratory of Advanced Manufacturing Technology | And 2 more authors.
Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering | Year: 2013

In this article, a novel deployable mechanism that can be depaloyed from a bundle compact configuration onto a large volume double-layer truss structure is proposed. The mechanism is constructed by a set of Myard linkages through specially designed mechanical connections, so that the whole assembled mechanism has single degree of freedom. The model of the multi-objective design for the proposed deployable mechanism is developed. In the optimal design of this mechanism, many design objectives have to be taken into consideration, such as weight, stiffness, packaging/expansion ratio and natural frequency, etc. Many of these design objectives have no explicit analytical expression and may be contradicted with each other. A randomized multi-objective search algorithm is proposed for solving this multi-objective design problem, by using the algorithm, the set of Pareto optimal solutions can be obtained, and the relationship between different objectives is figured out, so that the designers can choose the compromise solutions intuitively. The physical prototype is also fabricated based on the optimized parameters, the stiffness and natural frequency experiments are conducted to evaluate the design. The experimental results demonstrate that the proposed mechanism offers an attractive combination of performance characteristics for both stiffness and natural frequency. © IMechE 2012.

Li B.,Harbin Institute of Technology | Li B.,Shenzhen Key Laboratory of Advanced Manufacturing Technology | Chen Y.,Shandong University | Zhang J.,Harbin Institute of Technology | And 3 more authors.
Journal of Mechanical Science and Technology | Year: 2012

A novel hierarchical function action behavior mechanism (FABM) modeling framework is proposed to conduct intelligent mapping from the overall function to the principle solution, according to the requirements of customers. Based on the hierarchical modeling framework, an object-oriented representation method is developed to express the inheritance and the interconnecting characteristics between any two objects. In addition, the rules of expansion and modification in demand behavior are proposed to solve the combinational explosion problem, and the combinational rules in the mechanism behavior are developed to extend the innovation of the principle solution. A case study on the pan mechanism design for a cooking robot is presented to demonstrate the implementation of intelligent reasoning based on the FABM model. © 2012 The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg.

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