Development and Characteristics of a Highly Biomimetic Robotic Shoulder Through Bionics-Inspired Optimization

This paper critically analyzes conventional and biomimetic robotic arms, underscoring the trade-offs between size, motion range, and load capacity in current biomimetic models. By delving into the human shoulder's mechanical intelligence, particularly the glenohumeral joint's intricate features such as its unique ball-and-socket structure and self-locking mechanism, we pinpoint innovations that bolster both stability and mobility while maintaining compactness. To substantiate these insights, we present a groundbreaking biomimetic robotic glenohumeral joint that authentically mirrors human musculoskeletal elements, from ligaments to tendons, integrating the biological joint's mechanical intelligence. Our exhaustive simulations and tests reveal enhanced flexibility and load capacity for the robotic joint. The advanced robotic arm demonstrates notable capabilities, including a significant range of motions and a 4 kg payload capacity, even exerting over 1.5 Nm torque. This study not only confirms the human shoulder joint's mechanical innovations but also introduces a pioneering design for a next-generation biomimetic robotic arm, setting a new benchmark in robotic technology

Enhancing the Performance of a Biomimetic Robotic Elbow-and-Forearm System Through Bionics-Inspired Optimization

This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the substantial function of soft tissues, leading to a compromise between compactness, safety, stability, and range of motion. In contrast, this study proposes a holistic replication of biological joints, encompassing bones, cartilage, ligaments, and tendons, culminating in a biomimetic robot. The research underscores the compact and stable structure of the human forearm, attributable to a tri-bone framework and diverse soft tissues. The methodology involves exhaustive examinations of human anatomy, succeeded by a theoretical exploration of the contribution of soft tissues to the stability of the prototype. The evaluation results unveil remarkable parallels between the range of motion of the robotic joints and their human counterparts. The robotic elbow emulates 98.8% of the biological elbow's range of motion, with high torque capacities of 11.25 Nm (extension) and 24 Nm (flexion). Similarly, the robotic forearm achieves 58.6% of the human forearm's rotational range, generating substantial output torques of 14 Nm (pronation) and 7.8 Nm (supination). Moreover, the prototype exhibits significant load-bearing abilities, resisting a 5kg dumbbell load without substantial displacement. It demonstrates a payload capacity exceeding 4kg and rapid action capabilities, such as lifting a 2kg dumbbell at a speed of 0.74Hz and striking a ping-pong ball at an end-effector speed of 3.2 m/s. This research underscores that a detailed anatomical study can address existing robotic design obstacles, optimize performance and anthropomorphic resemblance, and reaffirm traditional anatomical principles

Compliant actuators that mimic biological muscle performance with applications in a highly biomimetic robotic arm

This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots, thereby fostering the evolution of these robotic systems. We introduce two novel compliant actuators, namely the Internal Torsion Spring Compliant Actuator (ICA) and the External Spring Compliant Actuator (ECA), and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator (MISA) through computational and experimental results. These actuators, employing a motor-tendon system, emulate biological muscle-like forms, enhancing artificial muscle technology. A robotic arm application inspired by the skeletal ligament system is presented. Experiments demonstrate satisfactory power in tasks like lifting dumbbells (peak power: 36W), playing table tennis (end-effector speed: 3.2 m/s), and door opening, without compromising biomimetic aesthetics. Compared to other linear stiffness serial elastic actuators (SEAs), ECA and ICA exhibit high power-to-volume (361 x 10^3 W/m) and power-to-mass (111.6 W/kg) ratios respectively, endorsing the biomimetic design's promise in robotic development

Exact Synthesis of 3-qubit Quantum Circuits from Non-binary Quantum Gates Using Multiple-Valued Logic and Group Theory

We propose an approach to optimally synthesize quantum circuits from non-permutative quantum gates such as Controlled-Square-Root–of-Not (i.e. Controlled-V). Our approach reduces the synthesis problem to multiple-valued optimization and uses group theory. We devise a novel technique that transforms the quantum logic synthesis problem from a multi-valued constrained optimization problem to a permutable representation. The transformation enables us to utilize group theory to exploit the symmetric properties of the synthesis problem. Assuming a cost of one for each two-qubit gate, we found all reversible circuits with quantum costs of 4, 5, 6, etc, and give another algorithm to realize these reversible circuits with quantum gates. The approach can be used for both binary permutative deterministic circuits and probabilistic circuits such as controlled random number generators and hidden Markov models

Effect of Recession on the Re-entry Capsule Aerodynamic Characteristic

AbstractNumerical simulation and analysis of aerodynamic characteristics of Soyuz ablation shape is carried out in this paper for the adverse influence coming from recession. The result indicates that the shape change caused by the recession will increase absolute value of trim angle of attack and trim lift-drag ratio. The conclusion offers reference for the aerodynamic layout design and improve of the Soyuz re-entry capsule