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| 1 | Biped Robot with Triangle Configuration显示文摘A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism.The scalability of three sides of the triangle is realized by three actuated prismatic joints.The three vertexes of the triangle are centers of three passive revolute joints coincidently.The biped mechanism for straight walking is proposed and its walking principle and mobility are explained.The static stability and the height and span of one step are analyzed.Kinematic analysis is performed to plan the gaits of walking on an even floor and going upstairs.A prototype is developed and experiments are carried out to validate the straight walking gait.Two additional revolute joints are added to form a modified biped robot which can follow the instruction of turning around.The turning ability is verified by experiments.As a new member of biped robots,its triangle configuration is used to impart geometry knowledge.Because of its high stiffness,some potential applications are on the way. | LIU Changhuan YAO Yan’an TIAN Yaobin | 2012 | Chinese Journal of Mechanical Engineering2012，25，1： | 5 |
| 2 | Sliding-crawling parallelogram mechanism显示文摘 | TIAN Yaobin WEI Xiangzhi JONEJA A | 2014 | Mechanism and Machine Theory2014，78，0： | 1 |
| 3 | Changes in characteristics of solu- ble microbial products and extracellular polymeric substances in membrane bioreactor coupled with worm reactor:Relation to mem- brane fouling 显示文摘 | Tian Yu Li Zhipeng Lu Yaobin | 2012 | Bioresource Technology2012，122，5： | 1 |
| 4 | Bionic Design and Analysis of a Novel Quadruped Robot with a Multistage Buffer System显示文摘Large quadruped mammals,such as ruminants,have outstanding motion ability,including running and bounding.These advanced motion abilities are related to the buffer effect of their complicated musculoskeletal systems.However,the buffer effect of most bio-robots is not satisfactory owing to the simple design of their buffer systems.In this paper,a physiological analysis of the ruminant musculoskeletal system is presented to explain the intrinsic buffer mechanism of motion.Based on the physical buffer parts of the ruminant limbs,the corresponding bionic mappings were determined.These mappings were used to guide the mechanism design of the robot multistage buffer system.The multistage buffer system includes two main buffer mechanisms:the first stage and the second stage.The buffer mechanism analysis of the first stage and multiple stages is discussed in theory to compare the effects between the normal single buffer system and the novel multistage buffer system.Then,the detailed mechanical structure of the limbs was designed based on the limb mechanism design.To further verify the superior efficacy of the multistage buffer system,the corresponding walking simulation experiments were conducted after the virtual prototype of a quadruped robot with a novel limb was built completely.Both theoretical analysis and simulation experiments prove that the bionic robot design with the novel multistage buffer system achieves better motion performance than the traditional robot buffer design and can be regarded as the design template of the robot limb. | Yi Zheng Kun Xu Yaobin Tian Huichao Deng Xilun Ding | 2022 | Chinese Journal of Mechanical Engineering2022，35，2： | 1 |
| 5 | Optimization of process conditions with attention to the sludge reduction and stable immobilization in a novel Tubificidae-reactor显示文摘 | TIAN Yu LU Yaobin CHEN Lin | 2010 | Bioresource Technology2010，101，15： | 1 |
| 6 | Different manipulation mode analysis of a radial symmetrical hexapod robot with leg-arm integration显示文摘With the widespread application of legged robot in various fields,the demand for a robot with high locomotion and manipulation ability is increasing.Adding an extra arm is a useful but general method for a legged robot to obtain manipulation ability.Hence,this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterous manipulation functions besides locomotion ability without adding an extra arm.The manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation condition.The former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing case.For the fixed coordinated clamping case,the degrees of freedom(DOFs)analysis of equivalent parallel mechanism by using screw theory and the constraint equation of two integrated limbs are established.For the fixed coordinated shearing case,the coordinated working space is determined,and an ideal coordinated manipulation ball is presented to guide the coordinated shearing task.In addition,the constraint analysis of two adjacent integrated limbs is performed.Then,mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as the single-limb manipulation condition,including gait switching analysis between hexapod gait and pentapod gait,different pentapod gaits analysis,and a complex six-DOF manipulation while walking.Corresponding experiments are implemented,including clamping tasks with two integrated limbs,coordinated shearing task by using two integrated limbs,and mobile manipulation with pentapod gait.This robot provides a new approach to building a multifunctional locomotion platform. | Yi ZHENG Kun XU Yaobin TIAN Xilun DING | 2022 | Frontiers of Mechanical Engineering2022，17，1： | 0 |
| 7 | Space advanced technology demonstration satellite显示文摘The Space Advanced Technology demonstration satellite(SATech-01),a mission for low-cost space science and new technology experiments,organized by Chinese Academy of Sciences(CAS),was successfully launched into a Sun-synchronous orbit at an altitude of~500 km on July 27,2022,from the Jiuquan Satellite Launch Centre.Serving as an experimental platform for space science exploration and the demonstration of advanced common technologies in orbit,SATech-01 is equipped with 16 experimental payloads,including the solar upper transition region imager(SUTRI),the lobster eye imager for astronomy(LEIA),the high energy burst searcher(HEBS),and a High Precision Magnetic Field Measurement System based on a CPT Magnetometer(CPT).It also incorporates an imager with freeform optics,an integrated thermal imaging sensor,and a multi-functional integrated imager,etc.This paper provides an overview of SATech-01,including a technical description of the satellite and its scientific payloads,along with their on-orbit performance. | ZHANG XiaoFeng CHEN Wen ZHU XiaoCheng MENG Na HE JunWang BI XingZi ZHANG YongHe SHI Qi LI Fei LIU Rui FENG ZhengGong LIU Liu LI JinSong WU HaiChen XU DongXiao LI TaiJie HUANG JiangJiang LIU Shuo LI TianTong YU XianSheng GAO Yang ZHOU Heng BAN HanYu ZHANG YanLi ZHANG YueTing YANG YingQuan HE Tao DUAN XuLiang CHEN Xin WANG YaMin SUN AnTai ZHANG KuoXiang SUN Ying WANG YaoBin FAN ChengCheng XIONG ShaoLin LI XinQiao WEN XiangYang LING ZhiXing SUN XiaoJin ZHANG Chen BAI XianYong WANG ZhanShan DENG YuanYong TIAN Hui YANG JianFeng XUE HongBo SANG Peng LIU JinGuo ZHENG HuiLong ZHU Xiang HE JianWu LI Hui XU LuXiang XU ShuYan CHEN WenWu LIU ZhenDong WANG ZhaoLi MAO XiangLong GAO Rong LI ZongXuan DING GuoPeng WANG XinYu DOU RunJiang WENG LuBin LUO Hao WANG YaPing LIANG XianFeng FANG ZiRuo | 2024 | Science China(Technological Sciences)2024，67，1： | 0 |
| 8 | Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree of freedom显示文摘This study presents two kinds of rolling robots that are able to roll by deforming their outer shapes with a single degree of freedom.Each robot is an essential multi-loop planar expandable linkage constructed by a concave outer loop and several inner parallelogram loops.In this study,the mechanical design of the robots is introduced.Dynamic rolling process is further analyzed on the basis of zero moment point method,and a morphing strategy is proposed to guarantee a stable dynamic rolling process.A novel passive rolling locomotion is also developed,which enables the robots to roll and stand on a slope.To verify the design,two prototypes are manufactured,wherein the dynamic and passive rolling locomotion are carried out. | Yanlin HAO Yaobin TIAN Jianxu WU Yezhuo LI Yan-An YAO | 2020 | Frontiers of Mechanical Engineering2020，15，3： | 0 |
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