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Robot and Automation

2.1.3 Robot and automation

The present research of robot and automation covers the principles of dynamic walk, leg of robot, exoskeleton and artificial limb. Associate Prof. Chenglong Fu and Prof. Caihua Xiong charge research in this topic.

2.1.3.1 Automatic & dynamic artificial limb of robot


The metabolism of people wearing conventional artificial limb is 30% greater than that of normal people.


 The conventional dynamic artificial limb cannot be comparable with healthy limb.
 

The dynamic artificial limb is able to simulate the biomechanical property of knee and ankle.

 At the present, the majority of commercialized artificial limbs are passive type, which costs 60% more metabolism energy than that of normal people. Moreover, the hip torque generated from artificial limb is three times of that from normal people. We designed a dynamic artificial limb including the ankle and knee joints to simulate the biomechanical property of human walk and greatly reduce the metabolism energy cost, which facilitates complex actions, such as walking on heavy load, walking up and down stairs and standing up.

2.1.3.2 Force assisted exoskeleton




We proposed an exoskeleton that recycles the energy from knee and ankle to force the ankle joint acting on the ground. Specifically, the negative power made by the end stage of knee joint motion and initial stage of ankle motion, is recycled from a controllable dual surface wheel to torsion spring, which further support the action of ankle joint acting on the ground. Experiment shows that the proposed exoskeleton can greatly reduce the motion of hamstrings and gastrocnemius muscles.

2.1.3.3 Biped robot with dynamic walk


Biped robot with dynamic walk (THR-I) is realized by retraction of swing leg and sensory reflex control, which can be dynamic high speed walk and running at a speed of two times of the length of leg every second. The maximum stride is 0.56 times of the length of leg with a minimum period of 0.2 second.



The bionic robot THR-II is powered by human muscle. The control system is based on the combination of global feedback and sensory reflex. The foothold is dynamically updated with a steady recovery of 100N×0.2s to turbulence. A book focusing on the bionic robot has been published.

2.1.3.4  Legged robot and quadruped robot




The legged robot with energy conservation driven by jumping is designed. The effect of driven form and action time to the energy of jumping property is studied to elucidate the strategy of driving force and damping energy.



The control of quadruped robot is proposed by establishing a relationship between high level walking task bounded by contacting force the foot and the mapping of joint torsion.

2.1.3.5 The saving mechanism of carrying-pole



The project combines theoretical study and experiment to studying the terms of loading boundary to mechanical property during walking and the energy efficiency. The saving mechanism of carrying-pole, which is a transportation tool in ancient China. The wisdom from ancient China is casted to the world. Meanwhile, it provides novel method guiding the boundary terms of heavy load to humanoid robot and exoskeleton.

2.1.3.6 Modeling and identification of natural gestures




The existing modeling and identification of natural gesture are based on the trajectory of palm motion, which does not consist with the habit of natural gesture and needs lots of samples to training the model. Moreover, it is hard to add and modify gesture. The current project expresses the gesture of joint motion, action type and arm shape one by one. By different forms of the judgement combination, it can be naturally and efficiently model large amount of gestures. Additionally, it can process the complex gestures that cannot be dealt by the previous methods. When it comes to identification, the proposed method only requires simply judging the similarity between the current gesture and existing gesture, to ensure the high accuracy and reduced computational load.

Innovation design & Advanced manufacturing


2.1.2.1 Intelligent manufacturing

 Intelligent manufacturing is one of the important project put forward in the “Thirteenth Fifth Plan” by our country, which is also a pivot goal proposed in “Made in China 2025”.  Intelligent manufacturing makes full use of the telecommunication, artificial intelligence, nanomaterial, big data and internet of things. The innovation is based on technique integration, which put the product design, manufacture, assembling, operation, maintenance into digitalization, intellectualization, interconnection. Eventually, the precision, efficiency and reliability of the assembling are improved, the cost of energy and raw material are reduced, the emission of carbon in manufacturing is decreased. Prof.s in the intelligent manufacture field in SUSTech are chair Prof. Yiming Rong, ccedemician Peigen Li, and associate Prof. Xuekun Li.

The main topics are listed as follows:
(1) Robot assembling and robot-numerical control machine
(2) Theory and methodology of design of high performance intelligent equipment
(3) Intelligent monitor and diagonalization of manufacturing process, as well as the implementation of industrial big data
(4) Precision/high-precision technology of tough materials

Major area of implementation:
Aerospace and aeronautical equipment, high precision component in high precision machine, key component of the dynamic system in vehicle, large scale and super large scale component of high precision machine, high efficiency processing of complex geometry.


Progress:


 
High speed parallel robots; Shrunk model of largescale electric emission telescope with a diameter of 500 m; 9-wire robot with small gravitational simulation; Flying quality simulator; high motion flying simulator; 6 degree of freedom calibrator; dynamic over load system for seat; Industrial spray painting robot of Changqing No.1; Industrial spray painting robot of Changqing No.1; Tracking system of solar power focusing; Configurable parallel equipment for education; SMC35 five-axis processing center and S-shape cutting test

2.1.2.2 Prototyping manufacturing
The prototyping manufacturing team in the department of mechanical and energy in SUSTech starts from theoretical modeling as the incision point, then steps into the breakthrough of prototyping manufacturing, cultivates high level excellent students, breaks the monopolization from the foreign countries, and put the transformation of “Made in China” into “Created in China”. Prof.s working on this field are chair Prof. Qiang Zhu and associate Prof. Gang Wang.

The detailed topics are:
1) Investigation of advanced prototyping theory
Multiphase mixed material prototyping
Metallic additive manufacturing (3D printing)
Metallic powder injection and prototyping

2) Innovation of advanced prototyping technology
Metallic semi-solid prototyping technology
3D printing of gradient prototyping technology
Metallic powder injection and prototyping technology

3) Numerical simulation technology
High throughput design of alloy and fast development
Numerical simulation of prototyping for special material
Multiscale prediction of structure and performance

4) Advanced prototyping manufacturing technology in engineering
The broad application of advanced prototyping manufacturing technology and its industrialization

1 Prototyping of multiphase and high viscosity material



2. Additive manufacturing (3D printing)
 
3. Metallic powder injection and prototyping (MIM©)

 
4 Computer aided engineering (CAE)

 
2.1.2.3  Precision processing

There are five topics in the precision processing. Chair Prof. Yongbo Wu, associate Prof. Dong Lu and assistance Prof. Shaolin Xu compose the team.

Topic 1: Ultrasonic wave aided high precision processing and equipment
(1) Ultrasonic wave aided cutting (Moving, milling, drilling and multi-axis interconnected numerical control)
(2) Ultrasonic wave aided rub (rub and cut, rub and milling, polishing, internal surface, even surface, curved surface and 3D microstructure)
(3) Ultrasonic wave aided inclined screw cutting of holes (fiber reinforced composite material)

Topic 2: Electric field/Ultrasonic wave combined processing and equipment
(1) Electric induced plastic effect (metallic material and non-metallic material)
(2) Ultrasonic wave aided electric induced plastic effect (metallic material and non-metallic material)

Topic 3: Magnetic field aided milling and polishing in high precision processing and equipment
(1) Precision component with high efficiency precision in nanoscale polish with varied magnetic field (metallic, ceramic, optical/semiconductor material)
(2) Key component prototyping with varied magnetic field (metallic, ceramic)
(3) Optical and electrical component polishing in nanoscale with varied magnetic field (optical glass and semiconductor material)

Topic 4: Temperature field aided high efficiency processing and equipment
(1) Laser heating aided cutting, milling and rubbing (metallic material)
(2) Plasma heating aided cutting, milling and rubbing (metallic material)
(3) Ultrasonic wave aided plasma electrons emission for cutting, milling and rubbing (metallic material)
(4) Microwave heating aided mechanical processing

Topic 5: Solid state chemical reaction and ultrasonic wave aided processing and equipment  
(1) Optical/semiconductor material processed with the aid of solid state chemical, mechanical at nanoscale (quartz glass, sapphire, single crystalline SiC, GaAs).

  

Energy Engineering

Energy is a crucially important factor ensuring the solidification of national security and propensity of national economy. Dating back to the history of human beings, every innovation of energy technology brought a revolution in the industry. For example, the invention of gas turbine and internal combustion turbine. The emergence of fuel cell bounds to induce another wave of revolution, which transforms the fossil fuel era to hydrogen era and provide a solution radically dealing with the issues of energy security and environmental pollution. The energy engineering in the Southern University of Science and Technology (SUSTech) plays an important role in the field. Therefore, the major gold of our research focuses on the hydrogen and its application in fuel cell, as well as other relating forms of renewable energy, such as solar power, wind power, nuclear power and biomass, etc. Meanwhile, we endeavor to develop novel energy storage technology, distributed power generation, energy management and its conservation. Chair Prof.s Haijiang Wang and Hui Li are the leading scientists devoting the research of energy
engineering in SUSTech.
Figure 1  Fuel cell vehicle with zero pollution

Figure 2  Hydrogen station powered by solar

Figure 3  Electric power station supplied by highly efficient fuel cell