Jiang Wu's research while affiliated with Shandong University and other places

Publications (25)

Article
Human-robot coexistence has become an important trend of the new generation of robots. Both rigid structures and soft structures have their own limitations in certain application scenarios. The tensegrity structure, which is widely used in the field of architecture and structural engineering, is a self-supporting and self-stressed spatial grid stru...
Article
Full-text available
Conventional lower-limb rehabilitation robots cannot provide in-time rehabilitation training for stroke patients in the acute stage due to their large size and mass as well as their complex wearing process. Aiming to solve the problems, first, a novel hybrid end-traction lower-limb rehabilitation robot (HE-LRR) was designed as the lower-limb rehabi...
Article
A new design of linear piezoelectric actuator using 'A-shaped' structure was proposed, designed, fabricated, and tested. By fusion design of the piezoelectric transducer and the mechanical structure, the proposed actuator only uses the first bending vibration of the center piezoelectric transducer to work. Frequency degeneration is no longer needed...
Article
A self-moving ultrasonic actuator (SUA) that operated by the longitudinal traveling wave and possessed high carrying/towing capability is developed in this article. The SUA is constructed by serially clamping two longitudinal transducers onto a rectangular-rod-shaped vibrating body, and its driving feet produce elliptical motions to achieve self-mo...
Chapter
To apply ultrasonic motors (USMs) to the chemical industry, in this study, alumina is employed as vibrating bodies of transducers as it offers not only high chemical resistance but also a possibility to generate high output torques and power of motors due to the high Young’s modulus. First, a Langevin-type transducer was constructed by clamping sev...
Article
In this article, a new two-DOF linear ultrasonic motor operating in three vibration modes is developed and its capability to exhibit high thrust force density and high power density is tested. Here, the driving force is produced by synchronously exciting the torsional (T) and centrosymmetric-bending (B <sub xmlns:mml="http://www.w3.org/1998/Math/Ma...
Article
A wedge transducer is developed using poly-phenylene-sulfide (PPS) as an exciter of high-intensity surface acoustic wave (SAW) to remove droplets adhering to automobiles’ front shield glass. Since the front shield glass has a glass/rubber/glass triple-layered configuration, SAW is needed to be employed to confine the vibration energy within the fir...
Article
Having a continuous mode of transportation, in the manufacturing and pharmaceutical industries, is desirable and this facilitated by the usage of dual transducer-type ultrasonic levitation-based transportation systems. It is well known that the structural and electrical parameters determine what can be transported continuously, but the relationship...
Article
Human-joint-position estimation is crucial for patient-transfer robots. However, high accuracy and real-time property are difficult to achieve simultaneously. To tackle the problem, we develop a new convolutional neural network (CNN), containing two levels of subnetworks, to fuse the information in color and depth images. The first-level subnetwork...
Article
Full-text available
A piezoelectric motor driven by the first-order torsional and first-order flexural (T/F) vibrations is designed, fabricated, and tested in this study. The actuating force is generated by the torsional vibration of the dumbbell-shaped vibrator, while the elliptical motion shape is adjusted with the flexural vibration. The rotor, pressed onto the vib...
Article
Full-text available
In this study, we design and fabricate a tank-track-shaped stator working in two torsional modes to form a traveling-wave (TW) linear ultrasonic motor (USM). The stator comprises two torsional transducers and two kidney-shaped vibrating bodies. When voltages with a certain phase are applied to the transducers, two in-phase TWs are excited on the vi...
Article
To achieve high torque density and high power density of rotary ultrasonic motors (USMs), in this article, we develop a rod-shaped transducer operating in torsional/bending (T/B) modes and excite two elliptical motions on its bilateral ends to drive the rotor orthogonally pressed onto the transducer. Here, the torsional vibration, the driving struc...
Article
To enhance the torque and output power of rod-shaped piezoelectric rotary motors, in this study, we employ alumina to substitute the metal parts of transducers considering that the high Young's modulus of alumina may avoid preload-induced vibration reduction and enable the transducers to generate high driving force. Besides, alumina exhibits a rela...
Article
Piezoceramics are widely‐used in high‐power applications, whereby the material is driven in the vicinity of the resonance frequency with high electric fields. Evaluating material′s performance at these conditions requires the consideration of inherent nonlinearity, anisotropy, and differences between individual vibration modes. In this work, the re...
Article
Our previously reported ultrasonic motors with poly phenylene sulfide (PPS)/lead zirconate titanate (PZT) double-layered vibrators were capable of providing high rotation speeds and light weight, but their output torques and power were limited owing to the low stiffness of PPS vibrating bodies. In this study, we constructed a triple-layered vibrato...
Article
Our previous studies demonstrated that some functional polymers could exhibit satisfactorily low mechanical loss in high-amplitude bending vibration in the ultrasonic frequency range. In this study, to explore further applications of these functional polymers in high-power ultrasonic transducers, we focus on Langevin transducers as they are most wi...
Article
Our previous study shows that poly phenylene sulfide (PPS) provides relatively high mechanical quality factors (Q factors) at ultrasonic frequency compared to other commonly-used functional polymers, and has potential as the vibrating body of a functional ultrasonic transducer. Since PPS has semicrystalline frameworks, its Q factors may be enhanced...
Article
Full-text available
Our previous studies showed that traveling-wave rotary ultrasonic motors with polymer-based vibrators yielded limited output power when operating in the commonly-used low-order bending vibration modes. In this study, we employ a high-order bending mode in the polymer-based cylindrical ultrasonic motor because this mode yields a relatively high elec...
Article
Our previous study has shown that traveling-wave rotary ultrasonic motors using polymer-based vibrators can work in the same way as conventional motors with metal-based vibrators. It is feasible to enhance the performance, particularly output torques, of polymer-based motors by adjusting several key dimensions of their vibrators. In this study, pol...
Article
In this technical note, a polymer-based magnetic sensor with a high resolution was devised for sensing the high magnetic field. It consisted of a bimorph (vibrator) made of poly (phenylene sulfide) (PPS) and a phosphor-bronze foil glued on the free end of the bimorph. According to Faraday's law of induction, when a magnetic field in the direction p...
Article
A method for measuring the mechanical quality factor (Q factor) of materials in large-amplitude flexural vibrations was devised on the basis of the original definition of the Q factor. The Q factor, the ratio of the reactive energy to the dissipated energy, was calculated from the vibration velocity distribution. The bar thickness was selected cons...
Article
With the characteristics of low density, low elastic modulus, and low mechanical loss, poly(phenylene sulfide) (PPS) is a promising material for fabricating lightweight ultrasonic motors (USMs). For the first time, we used PPS to fabricate an annular elastomer with teeth and glued a piece of piezoelectric-ceramic annular disk to the bottom of the e...
Article
With the properties of low density, low elastic modulus, and low mechanical loss, poly(phenylene sulfide) (PPS) is a suitable material as the elastomer in an airborne ultrasonic transducer for generating large vibration velocity. In this study, we design and fabricate a transducer composed of a PPS-based longitudinal vibrator and a PPS-based disk o...
Conference Paper
With the nature of low density and elastic modulus, polymers are promising materials for making light weight and large output ultrasonic motor (USM). However, it has been believed for a long time that polymer is too lossy to be applied in high amplitude vibrator. In order to explore the possibility of polymers for USM, we made a bimorph vibrator an...

Citations

... Robotics for rehabilitation comprises the creation of tools designed to support various sensorimotor processes [18] (e.g., arm, hand, [19,20] leg, ankle [21]), development of different schemes of assisting therapeutic training [22], and assessment of sensorimotor performance of patient [23]; here, robots are used mainly as therapy aids instead of assistive devices [24], as is shown in Figure 3. Robotic treatment has been demonstrated to be a successful supplement to therapy in people with motor deficits, especially those caused by stroke, and is often well tolerated by patients. Figure 3. Hybrid mechanism-based robot for end-traction lower limb [25]. [26]. ...
... In the chemical industry, reactors consisting of numerous piezo ceramics are commonly used to accelerate various industrial processes. Ultrasonic motors using piezoelectric resonances work by converting alternating current into mechanical vibrations [1][2][3][4]. The vibration of such motors can make the driving foot produce elliptical or oblique motion, which is convenient for applying them in different scenarios. ...
... The tensegrity structure is an efficient pin-joint structural system, which typically consists of cables in tension and struts in compression [1]. Owing to their inherent advantages of light weight, high stiffness, beautiful appearance, and controllability, tensegrity structures have been widely applied in numerous scientific fields, such as civil engineering [2,3], robotics [4,5], and metamaterials [6][7][8], etc. With these excellent characteristics, tensegrity is perceived as a potential solution to numerous practical problems, and many large-scale tensegrities with specific geometries are required to meet actual engineering requirements. ...
... To accelerate their practical usage in wider fields, a lightweight design is desirable for USMs, as this contributes to reducing the entire instrument's weight and improving the controllability [9,10]. USMs are basically composed of vibrators and sliders [11], with the vibrators having a fundamental effect on vibration properties [1,8,12]. In general, the vibrators incorporate piezoelectric materials and vibrating bodies [1,8,13], with the piezoelectric materials (lead zirconate titanate (PZT) in most cases) acting as excitors [1,14], and meanwhile, the vibrating bodies achieve modal degeneration (i.e., gathering the resonance frequencies of different vibration modes) and enlarge vibration amplitude [15]. ...
... But non-target drug delivery system might solve this problem. Micro-/nanorobots have been innovatively used to overcome obstacles associated with viscosity forces and Brownian motion and to perform locomotion by using different power , involving local chemical fuel Jurado-Sánchez et al., 2017;Chang et al., 2019;Wu et al., 2019;Mou et al., 2021), external electrical (Wu et al., 2016), optical (Loget and Kuhn, 2011;Dai et al., 2016;Dong et al., 2016;Wu et al., 2016;Xu L. et al., 2017;Tong et al., 2021), ultrasonic (Ding et al., 2012;Wang et al., 2012;Wu et al., 2014;Li et al., 2015;Xu T. et al., 2017;Mu et al., 2021;Zhao et al., 2022), and magnetic (Li T. et al., 2016;Yu et al., 2018;Koleoso et al., 2020;Yang, 2020;Yu et al., 2021;Xu et al., 2022). However, micro-/nanorobots, used as biomedical drug delivery systems, mainly require the elimination of the external fuel (Wang and Pumera, 2015), especially in vivo biomedical applications. ...
... An assistive bathing robot (I-Support) developed by Zlatintsi et al. can detect human activity and support the elderly and caregivers to transfer into a bathing cabin [14]. Chen et al. [15] developed a deep-learning model to estimate the human joint position for a transfer robot. When the model was applied to the transfer robot, the accuracy for recognition of human joints was higher than before. ...
... d 15 shear-mode piezoceramics have stronger electromechanical properties than d 31 or d 33 modes [1,2], and they show nonlinear piezoelectric behavior due to domain wall motion [3]. The piezoelectric shear strain is boosted by the non-180 • domain wall motion [3][4][5][6]. ...
... Under strong coupling circumstances, the variations of EM field cause changes in the geometry, meanwhile the deformation of structure also affects the distribution of magnetic flux density. The strong-coupling approach is suitable for accurately solving magnetostrictive effect [4] or analysing the performance of micromotor [5,6] made of piezoelectric materials. However, in the case that the motor stator teeth have sufficient stiffness, the EM field can be treated as barely unaffected by the deformation of the stator, and the weak coupling approach is suitable for this occasion. ...
... The ultrasonic motor used for installation in the laparoscope should have the features of small size and high torque. To improve the torque density of an ultrasonic motor, Wu developed a rod-shaped transducer operating in torsional/bending modes, and the torque density of the ultrasonic motor was as high as 20 N·m/kg [40]. Feng proposed a ringshaped traveling wave ultrasonic motor with a suspension stator; the stall torque of the ultrasonic motor was 49.5 mN·m [41]. ...
... Mechanical performances showed that the motor can obtain rotary speed of 350 r/min and the maximum torque is 186 N·mm under the voltage of 300 Vp − p. Wu et al., fabricated & investigated a ring-shaped alumina/PZT vibrator to form a traveling-wave USM. The rotation speed of the alumina/PZT motor was larger than that of the stainlesssteel/PZT motor, meanwhile, it exhibited superior maximal-torque-to-voltage and maximal-output-power-to voltage ratios [102]. ...