Xiaolong Yang

Xiaolong Yang
Nanjing University of Science and Technology | NJUST · School of Mechanical Engineering

Ph.D.

About

33
Publications
6,951
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290
Citations

Publications

Publications (33)
Article
Full-text available
Amphibious species of frogs are notable candidates to mimic for amphibious robotic design, as their swimming and sprawling locomotion is generated by the united propulsive mechanisms in which the hindlimbs play the dominant role. Although the propulsive system of frogs is not as complex as other amphibians, it is still difficult to employ the propu...
Article
Full-text available
This article presents a design of a novel swimming mechanism based on a linkage mechanism. The generated motions of the proposed mechanism mimic the purely aquatic locomotion of frogs such as Xenopus laevis (X. laevis), including both the motions of the hind legs and the webbed foot. A six-bar linkage mechanism is employed in this study combing wit...
Article
Parallel micropositioning piezostages are widely used in the micro-/nano-manipulation applications, but also subject to the nonlinear disturbances, like hysteresis, creep and cross-coupling effects. In this paper, a new fractional robust adaptive decoupled control (FRADC) is synthesized for a six-axis parallel micropositioning piezostage to improve...
Article
A new approach is put forward to enhance the stiffness of parallel mechanisms by topological reconfiguration. First, a novel 6-DOF Stewart-type parallel mechanism is designed and analyzed. This mechanism can be reconfigured into three topological configurations, each permitting one rotational motion by means of lockable prismatic joints. Then, an o...
Article
This article proposes a new discrete-time predictive sliding mode control (DPSMC) for a parallel micropositioning piezostage to improve the motion accuracy in the presence of cross-coupling hysteresis nonlinearities and input constraints. Unlike the traditional linear discrete-time sliding mode control (DSMC), the proposed DPSMC is chattering free...
Article
This paper presents a new fractional-order normalized Bouc-Wen (BW) (FONBW) model to describe the asymmetric and rate-dependent hysteresis nonlinearity of piezoelectric actuators (PEAs). In view of the fact that the classical BW (CBW) model is only efficient for the symmetric and rate-independent hysteresis description, the FONBW model is devoted t...
Article
Full-text available
The solution of the dynamic equations of the six-axis accelerometer is a prerequisite for sensor calibration, structural optimization, and practical application. However, the forward dynamic equations (FDEs) and inverse dynamic equations (IDEs) of this type of system have not been completely solved due to the strongly nonlinear coupling relationshi...
Article
Parallel mechanisms have been employed as architectures of high-precision vibration isolation systems. However, their performances in all degrees of freedom (DOFs) are nonidentical. The conventional solution to this problem is isotropic mechanism design, which is laborious and can hardly be achieved. This article proposes a novel concept; namely, i...
Preprint
Full-text available
High-performance actuators are crucial to enable mechanical versatility of lower-limb wearable robots, which are required to be lightweight, highly backdrivable, and with high bandwidth. State-of-the-art actuators, e.g., series elastic actuators (SEAs), have to compromise bandwidth to improve compliance (i.e., backdrivability). In this paper, we de...
Preprint
This paper presents a new fractional-order normalized Bouc-Wen (BW) (FONBW) model to describe the asymmetric and rate-dependent hysteresis nonlinearity of piezoelectric actuators (PEAs). In view of the fact that the classical BW (CBW) model is only efficient for the symmetric and rate-independent hysteresis description, the FONBW model is devoted t...
Article
Improving the control performance of active vibration isolation systems is crucial to provide an ultra-quiet environment for precision instruments. This paper presents a new fractional-order robust model reference adaptive controller for the piezo-actuated active vibration isolation systems with a relative-degree-one model. One advantage of the pro...
Article
A robust and practical force control system is crucial to the sensitive piezo-driven micromanipulation applications. This paper presents a new model-free robust finite-time force tracking controller for piezoelectric actuators (PEAs). The proposed controller composes of three intuitive terms: (1) a time-delay estimation (TDE) term that eliminates t...
Article
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability and socio-economic problems. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive because the rigid linkage design limits natural movement, thus causing ergonomic...
Preprint
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive because the rigid linkage design limits natural movement, thus causing ergonomic risk. Moreover, these existi...
Conference Paper
Full-text available
This paper presents a portable inertial measurement unit (IMU)-based motion sensing system and proposed an adaptive gait phase detection approach for non-steady state walking and multiple activities (walking, running, stair ascent, stair descent, squat) monitoring. The algorithm aims to overcome the limitation of existing gait detection methods tha...
Conference Paper
Full-text available
Individuals with spinal cord injury (SCI) and stroke who is lack of manipulation capability have a particular need for robotic hand exoskeletons. Among assistive and rehabilitative medical exoskeletons, there exists a sharp trade-off between device power on the one hand and ergonomics and portability on other, devices that provide stronger grasping...
Conference Paper
Full-text available
This paper presents the design and fabrication of a textile-based soft Electromyography (EMG) sensor and machine-learning-based methods to detect muscle spasticity. The textile EMG sensor is flexible, foldable, stretchable, washable for multiple times, and easily customizable to meet the heterogeneous needs of SCI individuals. The machine learning...
Article
Full-text available
Computationally efficient inverse dynamics is crucial to the real-time application of parallel robots. This paper provides a computationally more efficient solution to the inverse dynamics of a class of six-DOF parallel robots based on the dual quaternion approach under the principle of virtual power. A unit dual quaternion is selected as the gener...
Preprint
Full-text available
Individuals with spinal cord injury (SCI) and stroke who is lack of manipulation capability have a particular need for robotic hand exoskeletons. Among assistive and rehabilitative medical exoskeletons, there exists a sharp trade-off between device power on the one hand and ergonomics and portability on other, devices that provide stronger grasping...
Article
The vibration isolation system is crucial to high-precision space systems. This paper studies dynamics and control of a six-axis vibration isolator via a flexible Stewart platform. The parasitic stiffness induced by flexible joints is considered in dynamics modeling and compensated in control for the first time. The explicit dynamic equations are e...
Article
Full-text available
In this paper, a numerical method for forward kinematics of general Stewart manipulator using natural coordinates is presented. The kinematic equations are in quadratic forms and the corresponding Jacobian matrix is a linear function of coordinates because of using natural coordinates. According to the characteristics of the kinematic equations, th...
Article
Full-text available
In this paper, a numerical method for forward kinematics of general Stewart manipulator using natural coordinates is presented. The kinematic equations are in quadratic forms and the corresponding Jacobian matrix is a linear function of coordinates because of using natural coordinates. According to the characteristics of the kinematic equations, th...
Article
The avoidance of singularities is critical to design and control of parallel robots. This paper aims at efficient determination of the maximal singularity-free joint space and workspace of a class of six-DOF parallel robots with six kinematic chains of same type. We represent the singularity-free joint space by a 6-cube and determine it firstly. Th...
Article
Flexure hinges are the key components of high-precision flexible mechanisms. Their motion precision and range affect the performance of flexible mechanisms. Herein, the flexibility matrix of a circular flexure hinge was derived for optimal design. The flexibility equation of the circular flexure hinge was established using the structure matrix meth...
Article
Full-text available
The closed-loop real-time feedback control requires the forward kinematics analysis, which has not been solved completely in the field of parallel robots. A system of high degree univariate polynomial equations of the analytical forward kinematics analysis of 6-UPS parallel manipulators (6-UPS) can be obtained by eliminating variables. Also they ca...
Article
A six-axis vibration isolation system is essential to high-precision space systems for attenuating vibrations on precise instruments. The kinematic optimal design is researched for the space six-axis vibration isolator via Stewart mechanism. Jacobian matrix is the basis of the kinematic performance index. However, the conventional Jacobian matrix i...
Article
the six-axis vibration isolation system is essential for high-precision space systems. Its architecture is always designed based on the cubic-configuration Stewart platform, whose six flexible modes generally have different natural frequencies resulting in multiple resonances at various frequencies such that a uniform capability of vibration isolat...
Article
Many asymmetric hysteresis models based on traditional Bouc-Wen for the piezoelectric actuator have some redundant parameters, which reduce the accuracy of parameter identification. The most frequently used particle swarm algorithm converges slowly and is easy to fall into local optimum in terms of parameter identification of the piezoelectric actu...
Article
The forward kinematics is the basis of the design and control of the parallel robots. This paper aims to provide an efficient solution to the forward kinematics of a class of six-degrees-of-freedom parallel robots for real-time applications. With a unit dual quaternion used as the generalized coordinates of the robot system, the forward kinematic e...
Article
The forward kinematics of the general Stewart mechanism is studied and a fast numerical method is presented. Quaternion is utilized to model the forward kinematics and the equations are merely a system of quadratic ones. The numerical method is a nice simplification of the Newton-Raphson method when applied to this system. A simulation of the movem...

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Projects (2)
Project
At present, I'm mainly studying the kinematics, dynamics of the parallel mechanisms, which is based on the microgravity simulator. Thank for your question.
Archived project
In this project, symbolic multibody system dynamics is mainly used for modeling, simulation, software realization and design of a six-dimension microgravity simulation platform in the aerospace engineering. Symbolic multibody system dynamics, as an part of CAE, can provide the engineering designers a good tool for dynamic synthetical analysis, mechanical optimization and design. This project involves fully cartesian coordinates, operator algebras, screws and symbolic computation. This software containing nonlinear and linear dynamics analysis gives the motion equations of the multibody systems in the symbolic form automatically and generate the codes for numerical calculation. Based on parallel mechanisms, a six-dimension microgravity simulation platform is designed. The simulation accuracy of this platform can reach to 5%.