Xilun Ding’s research while affiliated with Beihang University and other places

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Publications (305)


Thermal-vacuum regolith environment simulator for drilling tests in lunar polar regions
  • Article
  • Full-text available

April 2025

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12 Reads

Acta Astronautica

Peineng Zhong

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Guangfei Zhang

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Mole-inspired Forepaw Design and Optimization Based on Resistive Force Theory

December 2024

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15 Reads

Journal of Bionic Engineering

Moles exhibit highly effective capabilities due to their unique body structures and digging techniques, making them ideal models for biomimetic research. However, a major challenge for mole-inspired robots lies in overcoming resistance in granular media when burrowing with forelimbs. In the absence of effective forepaw design strategies, most robotic designs rely on increased power to enhance performance. To address this issue, this paper employs Resistive Force Theory to optimize mole-inspired forepaws, aiming to enhance burrowing efficiency. By analyzing the relationship between geometric parameters and burrowing forces, we propose several forepaw design variations. Through granular resistance assessments, an effective forepaw configuration is identified and further refined using parameters such as longitudinal and transverse curvature. Subsequently, the Particle Swarm Optimization algorithm is applied to determine the optimal forepaw design. In force-loading tests, the optimized forepaw demonstrated a 79.44% reduction in granular lift force and a 22.55% increase in propulsive force compared with the control group. In robotic burrowing experiments, the optimized forepaw achieved the longest burrow displacement (179.528 mm) and the lowest burrowing lift force (0.9355 mm/s), verifying its effectiveness in reducing the lift force and enhancing the propulsive force.


Figure 1 Mechanical realization of the cLVSM: a Schematic diagram, and b CAD model
Figure 2 Principle of the cLVSM: a Minimum stiffness state, b Stiffness regulating state, and c Maximum stiffness state
Parameters for optimization of the cLVSMs
The boundaries and initial values of the parameters
Optimal parameters of the cLVSMs

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The cLVSM: A Novel Compact Linear Variable Stiffness Mechanism Based on Circular Beams

December 2024

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33 Reads

Chinese Journal of Mechanical Engineering

Variable stiffness mechanisms (VSMs) are a class of compliant mechanisms that can adjust their intrinsic stiffness, which promises to be beneficial in applications needed to interact with the environment, such as collaborative robots, wearable robots, and polishing robots. This paper presents the design and optimization of a novel linear VSM, called cLVSM, to produce linear motion, conversely to the majority of VSMs designed to perform rotary motion. By changing the effective length of specially designed circular beams, the cLVSM is capable of continuous stiffness regulation from a minimum value to almost rigid. Different from the VSMs which need rotation-to-translation converting mechanisms for stiffness regulation, the stiffness of the proposed design is adjusted by directly rotating the beams without the use of additional mechanisms, which contributes to improving the structural compactness, and reducing the energy loss and error in transmission. Moreover, the beam rotation needed to regulate the stiffness is almost perpendicular to the beam deflection force, which helps to reduce the torque needed for stiffness regulation. The stiffness model of the proposed VSM is developed using the screw theory, and the design parameters are optimized using the genetic algorithm. The effectiveness of the mathematical model and the performance of the design are verified by simulation and experiments.



Design and Control of a Compact Variable Stiffness Actuator Based on a Cam-Circular Beam Mechanism

December 2024

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39 Reads

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3 Citations

IEEE/ASME Transactions on Mechatronics

This article presents a novel variable stiffness actuator (VSA) capable of wide-range stiffness regulation and has a compact structure. A cam-circular beam mechanism is proposed in the design of variable stiffness mechanisms. By adjusting the pivot position, the stiffness of the actuator can be regulated from a minimum value to near infinite. Different from the VSAs, which use rotation-to-translation converting mechanisms in the design of stiffness regulation mechanisms, the stiffness regulation of the proposed actuator is achieved by simply rotating the pivot shaft with the help of circular beams. This contributes to the improvement of the compactness and power density of the actuator. Moreover, the transmission ratio between the beam deformation and the joint deflection is determined by the cam mechanism, then the stiffness profile and range of the stiffness can be customized. The control of the actuator is realized by using a proxy-based control method, and an adaptive law is proposed to adjust the control parameter and the joint mechanical stiffness online. Then, significant force compliance is achieved at the control and mechanical level, which guarantees interaction safety when unexpected interruptions occur. The prototype of the proposed actuator is developed and experiments are carried out, which verify the stiffness regulation capability of the actuator and the control performance.



Picture of (a) Odontodactylus scyllarus with (b) the dactyl club; (c) High-magnification differential interference contrast image of the bulk impact region; Localized magnification of (d) the impact region near the surface and (e) the central part within the impact region; (f) Three-dimensional model reconstruction of the fiber distribution; (g) Projection diagram of the bio-sinusoidal structure; (h) The fiber arrangement model for a single bidirectional sinusoidal layer.
(a) The 7-axis 3D printing robot system; (b) Process principle and process parameters of in-situ ME based 3D printing; (c) Printing process of BGS-CFRCs; (d) 3D printed BGS-CFRCs and views from two directions.
Specimens obtained after the water-cutting process: (a) Flat-layered PLA specimen and (b) CCF/PLA specimen; (c) Crest-impacted BGS-CFRCs; (d) Trough-impacted BGS-CFRCs.
Impact resistance of biomimetic gradient sinusoidal composites by 3D printing: Tunable structural stiffness and damage tolerance

November 2024

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94 Reads

Composites Part B Engineering

Taking inspiration from the remarkable impact resistance of the dactyl club of Odontodactylus scyllarus and utilizing the material extrusion-based 3D printing process for continuous fiber reinforced composites (CFRCs), the biomimetic gradient sinusoidal CFRCs (BGS-CFRCs) was designed and manufactured. This material combines the bidirectional sinusoidal structure with a gradient layering configuration, mimicking the natural design found in the dactyl club. Experimental tests revealed that BGS-CFRCs achieved a Charpy impact strength of up to 63.24 kJ/m2, surpassing flat-layered polylactic acid (PLA) and continuous carbon fiber reinforced PLA (CCF/PLA) specimens by 143 % and 80 %, respectively. Moreover, BGS-CFRCs exhibited tunable structural stiffness and damage tolerance. This can be attributed to the innovative in-plane fiber architecture and out-of-plane material gradient, revealing the synergistic effects of composite materials, bidirectional sinusoidal structure, and gradient layering configuration. Overall, this study combines multi-degree-of-freedom 3D printing of CFRCs with biomimetic structural design, providing new dimensions of design space. This breakthrough surpasses the limitations of traditional additive manufacturing techniques and structural design of composites, opening new possibilities for developing next-generation high-performance structural materials.


Intelligent Rock‐Climbing Robot Capable of Multimodal Locomotion and Hybrid Bioinspired Attachment (Adv. Sci. 39/2024)

October 2024

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123 Reads


Citations (44)


... However, these load-shifting 11 approaches have limited effects on total knee load. Although relatively unexplored, a 12 promising direction of knee OA treatment is the use of assistive exoskeletons to reduce 13 knee loading [15][16][17]. It is possible that advancements in exoskeleton development could 14 lead to larger reductions in knee joint load than existing approaches. ...

Reference:

How peak knee loads are affected by changing the mass of lower-limb body segments during walking
Design and Evaluation of a Soft Knee Exosuit for Reducing Knee Medial Compartment Load During Walking
  • Citing Article
  • January 2024

IEEE transactions on bio-medical engineering

... Experimental studies involving users could show how these transitions affect functionality and comfort, providing valuable insights for refining the design. It should be noted for the readers that a common issue related with reconfigurable mechanisms [56][57][58] such as the proposed mechanism in the manuscript is the possibility to encounter large forces. Thus, an optimization procedure should be followed for the final design that is synthesized with patient-specific data. ...

Mobility, Singularity and Configuration Analysis of a Bennett-Based Reconfigurable 8R Linkage
  • Citing Conference Paper
  • June 2024

... Photographic robots include underwater (Debruyn et al., 2020), aerospace (Ivosevic et al., 2015), and terrestrial types (Ross et al., 2021;Mortezapoor et al., 2022). Terrestrial robots are further categorized into wheeled, tracked, footed, and closed-chain linkage types (Teng et al., 2024;Nodehi et al., 2022;Zi et al., 2024;Hu et al., 2023). Ecological photography environments are variable (Pringle et al., 2023), and traditional mobile robots present certain limitations. ...

Intelligent Rock‐Climbing Robot Capable of Multimodal Locomotion and Hybrid Bioinspired Attachment

... At present, some researchers [34] have point out that: "It has always been an unsolved problem to switch their motion patterns smoothly and reliably for multi-mode mechanisms/multiconfiguration mecha-nisms". Although through years of unremitting efforts by scholars around the world, the basic theoretical research on metamorphic mechanisms has become increasingly rich, the engineering application research is also gradually being carried out [35,36]. Due to the "unresolved problem" proposed in reference [34], the engineering application of metamorphic mechanisms is not very ideal. ...

Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

Chinese Journal of Mechanical Engineering

... While effective in controlled settings, these approaches often struggle with dynamic elements commonly encountered in real-world environments, such as moving objects or sudden lighting changes, as discussed in [10,11]. To overcome these limitations, recent research has focused on more adaptive SLAM methods that integrate artificial intelligence (AI), deep learning, and advanced hardware optimizations, enhancing SLAM's robustness and accuracy in dynamic settings [12,13]. Systems like ORB-SLAM2 [14] and DFT-VSLAM [7] utilize advanced tracking techniques and dynamic feature extraction to improve performance in dynamic environments. ...

A Survey of Visual SLAM in Dynamic Environment: The Evolution From Geometric to Semantic Approaches
  • Citing Article
  • January 2024

IEEE Transactions on Instrumentation and Measurement

... However, this scaling is often imprecise, introducing complexities inherent to real-world environments. 2,[57][58][59][60] Developing and constructing a digging robot inspired by the locust oviposition will be applicative to a variety of different fields, from subterranean exploration all the way to a model system for brain surgery. [61][62][63] These different tentative applications have some major common demands. ...

Mole‐Inspired Robot Burrowing with Forelimbs for Planetary Soil Exploration

... For example, Wang's group first proposed a triboelectric nanogenerator based on contact electrification and electrostatic induction [11,12]. Due to the merits of TENG such as simple structure, light weight, rich material selection, high power density, and excellent reliability [13][14][15][16], TENGs have been widely applied in collecting clean energy via wind energy, ocean energy and vibration energy, meanwhile, it can also be qualified into industrial sensors [17][18][19][20], wearable sensors for human bodies [21][22][23][24], and IoT self-powered devices [25][26][27]. ...

Structure‐Foldable and Performance‐Tailorable PI Paper‐Based Triboelectric Nanogenerators Processed and Controlled by Laser‐Induced Graphene

... Kosaju and Santhanakrishnan 34 observed that the presence of bristles on wings allows for a leaky flow, which leads to an enhanced lift-todrag ratio in comparison to wings without bristles, although this benefit diminished at Re ¼ 120 and is only applicable to small insects. Yang et al. 35 provided a detailed analysis of the kinematic data of Coccinella septempinctata performing clap-and-fling motion during climbing flight. They observed that the fling mechanism increases the lift coefficient by 9.65% and decreases the drag coefficient by $1.7%. ...

Clap-and-Fling Mechanism of Climbing-Flight Coccinella Septempunctata

Biomimetics

... To achieve this, extraordinary resolution in velocity and angle detection, conformal deformation capacity, fast response and high sensitivity should be balanced simultaneously. For example, Gong et al. proposed a flexible calorimetric flow (FCF) sensor consisting of three pairs of vanadium oxide (VO x ) thermistors and one spiral Cr/Au heater(Fig 6a)[82]. To decrease heat loss, the authors designed a suspended structure between VO x thermistors and the PI film, contributing to a high temperature coefficient of resistance (TCR) of -2% K -1 with low pink noise. ...

Flexible calorimetric flow sensor with unprecedented sensitivity and directional resolution for multiple flight parameter detection

... In [4] and [5], mechanical clutches were introduced to SEAs for the automatic disengagement of force transmission, which was satisfyingly adopted in wearable robotics to improve actuation efficiency and mechanical transparency. Apart from the introduction of mechanical clutch, the use of variable-stiffness springs [6,7] is also an effective way to overcome the limitations mentioned above. Nevertheless, the development of SEAs with variable-stiffness springs is still unable to satisfy the requirements of highefficiency actuation. ...

Design and Control of a Compact Variable Stiffness Actuator Based on a Cam-Circular Beam Mechanism
  • Citing Article
  • December 2024

IEEE/ASME Transactions on Mechatronics