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学者姓名：赵京
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Abstract ：
To effectively address the requirements of deeply coexisting-cooperative-cognitive (Tri-Co) interactions among humans, robots, and the environment within the context of Industry 4.0, it becomes crucial to conduct evaluation research on Tri-Co capabilities (TCCs) of collaborative robots (cobots), which is a knowledge-intensive task. However, existing research on performance evaluation of cobots has not yet established a common method for constructing a complete performance evaluation index system. The testing methods lack a design basis and fail to evaluate the performance of cobots through operational tasks in industrial production or daily life from the perspective of test tasks. Furthermore, these methods do not facilitate the fusion of multi-source subjective and objective decision-making information, which includes both the knowledge of experts and fundamental parameters of cobots. To this end, this study proposes a multi-source decision-making information fusion framework for evaluating the TCCs of cobots. This framework includes a construction method for an evaluation index system that fuses subjective and objective elements based on statistics, text clustering, and closed-loop feedback mechanism. It also incorporates TCCs test tasks, and an improved fuzzy analytic network process (IFANP). Additionally, it incorporates a combination weighting method that aims to minimise both subjective and objective weights deviations. This framework effectively integrates the subjective knowledge of experts with the objective fundamental parameters of cobots. It accomplishes local TCCs evaluation from the perspective of test tasks. Additionally, it achieves global TCCs evaluation by combining basic performance evaluation indices and the performance of completing the test tasks. A case by Rethink Sawyer (Sawyer) is presented to demonstrate the application process and viability of the developed framework. The experimental results and calculation examples indicate that the research has the potential to provide a certain theoretical basis and reference to solve the performance testing and evaluation issues for other types of robots in engineering applications.
Keyword ：
Collaborative robots Collaborative robots Text clustering Text clustering Robot performance evaluation Robot performance evaluation Multi-source information fusion Multi-source information fusion
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| GB/T 7714 | Yao, Jiwei , Zhao, Zhiang , Zhao, Jing . Multi-source decision-making information fusion framework for evaluating coexisting-cooperative-cognitive capabilities of collaborative robots using text clustering and combination weighting [J]. | ADVANCED ENGINEERING INFORMATICS , 2024 , 62 . |
| MLA | Yao, Jiwei 等. "Multi-source decision-making information fusion framework for evaluating coexisting-cooperative-cognitive capabilities of collaborative robots using text clustering and combination weighting" . | ADVANCED ENGINEERING INFORMATICS 62 (2024) . |
| APA | Yao, Jiwei , Zhao, Zhiang , Zhao, Jing . Multi-source decision-making information fusion framework for evaluating coexisting-cooperative-cognitive capabilities of collaborative robots using text clustering and combination weighting . | ADVANCED ENGINEERING INFORMATICS , 2024 , 62 . |
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Abstract ：
Redundant and dual-arm manipulators exhibit good flexibility and excellent cooperation ability, respectively. Therefore, both these manipulators are used to design a redundant dual-chain manipulator with two kinematic chains and a fixed base. In addition, a motion planning method is proposed using a manifold analysis based on the characteristics of this designed manipulator to resolve the difficulty associated with motion planning for a dual-chain manipulator under multiple constraints. Firstly, the paths of the two end-effectors of the dual-chain manipulator are planned synchronously by the Rapidly-exploring Random Tree Star (RRT*) in the Cartesian space. Then, joint trajectories that correspond to the paths are generated by the manifold analysis in the joint space. In this method, the manifold continuity constraint is added to the end-effector path planning of RRT* to ensure that the planned paths have continuous joint trajectories. The joint trajectories are optimised by analysing the performance of the manipulator on the manifolds to improve their motion performance. The prototype experiments of loose coordination and tight coordination are provided in the experimental section; these experiments prove the feasibility and practicability of the motion planning method proposed in this study.
Keyword ：
Motion planning Motion planning Self-motion manifolds Self-motion manifolds Redundant dual-chain manipulator Redundant dual-chain manipulator Multiple constraints Multiple constraints
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| GB/T 7714 | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang et al. Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints [J]. | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2023 , 108 (4) . |
| MLA | Zhou, Zhenyong et al. "Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints" . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 108 . 4 (2023) . |
| APA | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang , Li, Xiaohui . Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2023 , 108 (4) . |
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Abstract ：
A dual-chain manipulator with one fixed base and two kinematic chains is presented in this paper. Aiming at the difficulty of motion planning of dual-chain manipulator, a motion planning method of dual-chain manipulator based on Artificial Bee Colony Algorithm (ABC) is proposed. Firstly, the ABC is used to optimize the initial configuration of the dual-chain manipulator. Then, the end-effector path of the dual-chain manipulator is planned by the Rapidly-Exploring Random Tree Star (RRT*). Finally, the joint trajectory is generated by Gradient Projection Method (GPM) after the initial configuration and end-effector path are determined. In the experimental part, the prototype experiment of the dual-chain manipulator is given, which proves the feasibility of the motion planning method proposed.
Keyword ：
Artificial Bee Colony Algorithm Artificial Bee Colony Algorithm collision detection collision detection redundant dual-chain manipulator redundant dual-chain manipulator motion planning motion planning
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| GB/T 7714 | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang et al. Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm [J]. | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR , 2023 : 55-60 . |
| MLA | Zhou, Zhenyong et al. "Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm" . | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR (2023) : 55-60 . |
| APA | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang , Li, Xiaohui . Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm . | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR , 2023 , 55-60 . |
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Abstract ：
本发明公开了一种具有三支链的爬行‑操作一体构型可变空间机械臂，包括机械手结构、快速锁紧结构、三支链机械臂结构、基板结构和外接机械臂结构，所述三支链机械臂结构包括三支相同模型的机械臂和基座连接装置；所述基板结构包括若干相同的连接装置和机械臂存放装置；所述快速锁紧结构包含快速卡死装置和弹簧缓冲装置以及信息传输模块；所述机械手结构包括连接装置和抓取装置；外接机械臂结构包括主干结构与连接锁装置。本发明通过三支链机械臂与基板上的若干快速锁紧装置进行固定，可以实现机械臂在基板上的爬行，并根据执行任务的要求选择双臂固定单臂操作或单臂固定双臂协作，除此之外还可以增加支链关节数目以增加活动范围，具有高适应性、高灵活性、作业范围大的特点。
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| GB/T 7714 | 张自强 , 刘承朋 , 赵京 et al. 一种具有三支链的爬行-操作一体构型可变空间机械臂 : CN202310250182.7[P]. | 2023-03-15 . |
| MLA | 张自强 et al. "一种具有三支链的爬行-操作一体构型可变空间机械臂" : CN202310250182.7. | 2023-03-15 . |
| APA | 张自强 , 刘承朋 , 赵京 , 张强 , 刘维惠 . 一种具有三支链的爬行-操作一体构型可变空间机械臂 : CN202310250182.7. | 2023-03-15 . |
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Abstract ：
本发明公开了一种车辆侧翻90°或180°自动扶正机构，针对车辆在行驶过程中发生侧翻的情况下，人力扶正和一般扶正装置难以高效便捷扶正的问题，提出了一种新型的车辆侧翻自动扶正机构与方法。依靠车辆在偏心放置下重力产生的重力矩，不借助额外的输入能量，实现重力势能到动能的转化，产生偏心转动效应。具体实施方式为：在车辆的前后两侧，两个带轴的法兰式圆盘各通过六个螺栓固定在车体上，将轴放入轴承套，再将轴承套固定在工字梁上，通过液压缸支撑起车辆。支撑的过程中为了防止车辆的晃动，每个工字梁通过两个圆锥销与车体连接。车辆被支撑至一定高度后拔出圆锥销，产生偏心转动效应，从而自动回到正常行驶状态。
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| GB/T 7714 | 赵京 , 姚季伟 , 孔合意 et al. 一种车辆侧翻90°或180°自动扶正机构 : CN202310163378.2[P]. | 2023-02-24 . |
| MLA | 赵京 et al. "一种车辆侧翻90°或180°自动扶正机构" : CN202310163378.2. | 2023-02-24 . |
| APA | 赵京 , 姚季伟 , 孔合意 , 马恒凯 . 一种车辆侧翻90°或180°自动扶正机构 : CN202310163378.2. | 2023-02-24 . |
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Abstract ：
本发明公开了基于接触状态模型和自适应阻抗控制的柔顺轴孔装配方法，机器人开始轴孔装配任务之后，通过视觉传感器引导或示教学习将轴件运动至孔件附近，再通过孔外倾斜式阿基米德螺旋搜索的方式将轴件运动至孔内，使得轴件与孔件接触及实时采集到的力/力矩信息，得到当前的轴孔初始接触状态。将所有的初始接触状态均调整为孔内两点接触状态，及时辨识接触状态和优化调整策略。由力/力矩传感器实时采集到的力/力矩信息判断出当前轴孔中心线的倾斜角，从而通过控制机器人完成一次姿态调整，使得轴孔中心线完成对齐。在轴孔装配即将结束时，轴端面与孔底面发生接触，此时需尽可能地避免轴端面与孔底面发生摩擦，控制轻微上提一段距离再完成装配。
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| GB/T 7714 | 赵京 , 杨书生 . 基于接触状态模型和自适应阻抗控制的柔顺轴孔装配方法 : CN202310171186.6[P]. | 2023-02-27 . |
| MLA | 赵京 et al. "基于接触状态模型和自适应阻抗控制的柔顺轴孔装配方法" : CN202310171186.6. | 2023-02-27 . |
| APA | 赵京 , 杨书生 . 基于接触状态模型和自适应阻抗控制的柔顺轴孔装配方法 : CN202310171186.6. | 2023-02-27 . |
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Abstract ：
本发明公开了一种基于内啮合齿轮的法兰快速连接和拆卸机构，涉及技术领域。包括第一法兰、第二法兰、直齿内齿轮、直齿圆柱齿轮，直齿内齿轮与直齿圆柱齿轮啮合连接，直齿圆柱齿轮套设固定连接销轴，销轴穿过并转动连接第二法兰后转动连接第一法兰，直齿内齿轮与第二法兰通过转轴转动连接，转轴依次穿过直齿内齿轮和第二法兰的中心，直齿内齿轮转动，带动直齿圆柱齿轮转动，直齿圆柱齿轮带动销轴转动，销轴转动设定角度后，第一法兰可沿销轴的轴线做直线运动，脱离销轴，实现第一法兰和第二法兰的分离。本发明通过齿轮啮合转动完成法兰的快速连接和拆卸，代替了传统的螺栓连接，能够节省大量时间，并可以承受一定的载荷。
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| GB/T 7714 | 赵京 , 张傲 , 周振勇 . 一种基于内啮合齿轮的法兰快速连接和拆卸机构 : CN202310849707.9[P]. | 2023-07-12 . |
| MLA | 赵京 et al. "一种基于内啮合齿轮的法兰快速连接和拆卸机构" : CN202310849707.9. | 2023-07-12 . |
| APA | 赵京 , 张傲 , 周振勇 . 一种基于内啮合齿轮的法兰快速连接和拆卸机构 : CN202310849707.9. | 2023-07-12 . |
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Abstract ：
本发明公开了一种面向复杂地形自适应无源可穿戴血液透析机负载装置，包括穿戴在使用者腰部的负重平台，负重平台内侧背负的血液透析机、外侧设有穿戴固定结构、两端分别设有腿部结构；所述腿部结构包括腿部内测设有可适应大腿内外摆动的弹簧回复装置A、大腿骨架和小腿骨架；所述大腿骨架后端设有承重连杆装置、小腿骨架后端设有助力连杆装置；所述大腿骨架与负重平台相连接的胯关节设有弹簧蓄能装置B、大腿骨架与小腿骨架相连的膝关节设有弹簧蓄能装置C；大腿骨架及小腿骨架内侧设有适应不同体型穿戴者的可微调腿部绑带高度的结构；所述腿部结构的下端设有脚部结构；所述脚部结构踝关节处设有可适应脚踝内外摆动的弹簧回复装置D。
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| GB/T 7714 | 张自强 , 康天宇 , 赵京 . 一种面向复杂地形自适应无源可穿戴血液透析机负载装置 : CN202310266940.4[P]. | 2023-03-20 . |
| MLA | 张自强 et al. "一种面向复杂地形自适应无源可穿戴血液透析机负载装置" : CN202310266940.4. | 2023-03-20 . |
| APA | 张自强 , 康天宇 , 赵京 . 一种面向复杂地形自适应无源可穿戴血液透析机负载装置 : CN202310266940.4. | 2023-03-20 . |
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Abstract ：
Admittance control of the robot is an important method to improve human-robot collaborative performance. However, it displays poor matching between admittance parameters and human-robot collaborative motion. This results in poor motion performance when the robot interacts with the changeable environment (human). Therefore, to improve the performance of human-robot collaboration, the human-like variable admittance parameter regulator (HVAPR) based on the change rate of interaction force is proposed by studying the human arm's static and dynamic admittance parameters in human-human collaborative motion. HVAPR can generate admittance parameters matching with human collaborative motion. To test the performance of the proposed HVAPR, the human-robot collaborative motion experiment based on HVAPR is designed and compared with the variable admittance parameter regulator (VAPR). The satisfaction, recognition ratio, and recognition confidence of the two admittance parameter regulators are statistically analyzed via questionnaire. Simultaneously, the trajectory and interaction force of the robot are analyzed, and the performance of the human-robot collaborative motion is assessed and compared using the trajectory smoothness index and average energy index. The results show that HVAPR is superior to VAPR in human-robot collaborative satisfaction, robot trajectory smoothness, and average energy consumption.
Keyword ：
human-robot collaborative motion human-robot collaborative motion evaluation of human-robot collaborative performance evaluation of human-robot collaborative performance compliant control compliant control human-robot interaction human-robot interaction human-like variable admittance control human-like variable admittance control
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| GB/T 7714 | Wang, Chengyun , Zhao, Jing . Based on human-like variable admittance control for human-robot collaborative motion [J]. | ROBOTICA , 2023 , 41 (7) : 2155-2176 . |
| MLA | Wang, Chengyun et al. "Based on human-like variable admittance control for human-robot collaborative motion" . | ROBOTICA 41 . 7 (2023) : 2155-2176 . |
| APA | Wang, Chengyun , Zhao, Jing . Based on human-like variable admittance control for human-robot collaborative motion . | ROBOTICA , 2023 , 41 (7) , 2155-2176 . |
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Abstract ：
Single degree-of-freedom (DOF) planar linkage mechanism has been widely used in bio-inspired robots because of its simple control. However, designing a single DOF mechanism to meet the complex motion law of creatures is difficult, and the multiple variables of six-or eight-bar mechanism further increase the design difficulty. A design method of single DOF planar linkage bionic mechanism is proposed in this paper. Through the continuous constraints on the position of all reference points with constraint descent method, the requirements of the bionic mechanism in shape, motion trajectory, and posture are met. As for the mechanism by which reference point coordinates cannot be expressed as the analytical solution of the driving angle, a single DOF mechanism is equivalent to a double DOF mechanism containing additional optimization variables, which further improves the design efficiency. For example, the design process of six-and eight-bar bionic mechanisms is given, confirming the feasibility of the method. Then, the effects of the constraint conditions on the design process are analyzed in detail. This study provides a reference for the design of bio-inspired robots.
Keyword ：
Continuous position constraints Continuous position constraints Design method Design method Single DOF Single DOF Planar linkage bionic mechanism Planar linkage bionic mechanism Six-or eight-bar mechanism Six-or eight-bar mechanism
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| GB/T 7714 | Zhang, Ziqiang , Zhang, Yong , Zhao, Jing et al. Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints [J]. | MECHANISM AND MACHINE THEORY , 2022 , 170 . |
| MLA | Zhang, Ziqiang et al. "Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints" . | MECHANISM AND MACHINE THEORY 170 (2022) . |
| APA | Zhang, Ziqiang , Zhang, Yong , Zhao, Jing , Zhou, Zhenyong . Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints . | MECHANISM AND MACHINE THEORY , 2022 , 170 . |
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