Fusheng Liu, Zhihang He, Yue Qiao, Xinxin Liu, Xuelong Li, Wang Wei, Bo Su and Ruina Dang
The purpose of this paper is specifically to provide a more intelligent locomotion planning method for a hexapod robot based on trajectory optimization, which could reduce the…
Abstract
Purpose
The purpose of this paper is specifically to provide a more intelligent locomotion planning method for a hexapod robot based on trajectory optimization, which could reduce the complexity of locomotion design, shorten time of design and generate efficient and accurate motion.
Design/methodology/approach
The authors generated locomotion for the hexapod robot based on trajectory optimization method and it just need to specify the high-level motion requirements. Here the authors first transcribed the trajectory optimization problem to a nonlinear programming problem, in which the specified motion requirements and the dynamics with complementarity constraints were defined as the constraints, then a nonlinear solver was used to solve. The leg compliance was taken into consideration and the generated motions were deployed on the hexapod robot prototype to prove the utility of the method and, meanwhile, the influence of different environments was considered.
Findings
The generated motions were deployed on the hexapod robot and the movements were demonstrated very much in line with the planning. The new planning method does not require lots of parameter-tuning work and therefore significantly reduces the cycle for designing a new locomotion.
Originality/value
A locomotion generation method based on trajectory optimization was constructed for a 12-degree of freedom hexapod robot. The variable stiffness compliance of legs was considered to improve the accuracy of locomotion generation. And also, different from some simulation work before, the authors have designed the locomotion in three cases and constructed field tests to demonstrate its utility.
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Yanzhang Yao, Wei Wang, Yue Qiao, Zhihang He, Fusheng Liu, Xuelong Li, Xinxin Liu, Dehua Zou and Tong Zhang
The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.
Abstract
Purpose
The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.
Design methodology approach
This study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments.
Findings
The developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait.
Originality value
The hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing.
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Xuelong Li, Lei Jiang, Xinxin Liu, Ruina Dang, Fusheng Liu, Wang Wei, Tong Zhang and Guoshun Wang
The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the…
Abstract
Purpose
The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the land–water transition zone.
Design/methodology/approach
Starting from the design idea of multimode motion, the robot innovatively integrates the guiding fin and wheel together, is driven by the same motor and can achieve multimodal motion such as land, water surface and underwater with only six actuated degrees of freedom. The robot dispenses with the transmission mechanism by directly connecting the servo motor with a reducer to the actuator, so it has the characteristics of simplifying the structure and reducing the quality. And to the best of the authors' knowledge, the design of the robot can be considered the minimal configuration of amphibious robots with the same locomotion capabilities.
Findings
Based on the classical assumptions of underwater dynamics analysis, this paper uses basic airfoil theory to analyze the dynamics of the robot’s horizontal and vertical motions and establishes its simplified dynamics model. Also, the underwater motion of the robot is simulated, and the results are in good agreement with the existing research results. Finally, to verify the feasibility of the robot, a prototype is implemented and fully evaluated by experiments. Experimental results show that the robot can reach the maximum speed of 2.5 m/s and 0.3 m/s on land and underwater, respectively, proving the effectiveness of the robot.
Originality/value
The robot has higher work efficiency with the powerful multimode motion, and its simplified structure makes it more stable while costing less.
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Xuejie Ni, Weijun Li, Zhong Xu, Fusheng Liu, Qun Wang, Sinian Wan, Maojun Li and Hong He
This study aims to examine the cutting performance of a coated carbide tool during the boring of 1Cr17Ni2 martensitic stainless steel, with a focus on how the tool’s structural…
Abstract
Purpose
This study aims to examine the cutting performance of a coated carbide tool during the boring of 1Cr17Ni2 martensitic stainless steel, with a focus on how the tool’s structural parameters, particularly the nose radius, affect the wear patterns, wear volume and lifetime of the cutting tool, and related mechanisms.
Design/methodology/approach
A full factorial boring experiment with three factors at two levels was conducted to analyze systematically the impact of cutting parameters on the tool wear behavior. The evolution of tool wear over the machining time was recorded, and the influences of the cutting parameters and nose radius on wear behavior of the tool were examined.
Findings
The results show that higher cutting parameters lead to significant wear or plastic deformation at the tool nose. When the cutting depth is less than the nose radius, the tool wear tends to be minimized. Larger nose radius tools have weaker chip-breaking but greater strength and wear resistance. Higher cutting parameters reduce wear for the tools with larger nose radius, maintaining their integrity. Wear mechanisms are primarily abrasive, adhesive and diffusion wear. Furthermore, the full-factorial analysis of variance revealed that for the tool with rε = 0.4 mm and 0.8 mm, the factors contributing the most to tool wear were cutting speed (38.76%) and cutting depth (86.43%), respectively.
Originality/value
This study is of great significance for selection of cutting tools and cutting parameters for boring 1Cr17Ni2 martensitic stainless-steel parts.
Peer review
The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-07-2024-0266/
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Heping Liu, Jinxin Lu, Fusheng Zhu and Ani Luo
This study proposes a tensegrity-based traction structure with D-bar dual cable units. It is used to connect the airship and the ground to stabilize the airship.
Abstract
Purpose
This study proposes a tensegrity-based traction structure with D-bar dual cable units. It is used to connect the airship and the ground to stabilize the airship.
Design/methodology/approach
The mathematical models and dynamic models of the D-bar dual cable (hereafter referred to as DD cable) unit of the tensegrity-based traction structure are established. Based on the minimum mass method, the mass of the DD cable unit in the critical state (cable member is yielding, or bar member is buckling or yielding) is analyzed. Then, the tensile strength of the DD cable unit and single cable unit under the same condition is compared using the control variate method. Finally, based on ANSYS dynamic simulation, the stability of the two structures under the same external force disturbance was tested.
Findings
Expressions for the minimum mass of the DD cable unit under different failure conditions are solved. Dynamic simulation results show that the capacity of resisting disturbance of the DD cable unit is much better than that of the single cable unit under the same wind speed. So, we find a structure more suitable for the fixed connection of an airship.
Originality/value
This study helps to provide theoretical reference and thinking for the practical application of the traction structure with a D-bar dual cable unit.
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Xiyue Zheng, Fusheng Wang, Shiyu Liu, Han Wang and Dongchao Zhang
This paper aims to conduct an analysis of the influence of both the breadth and depth of outward foreign direct investment (OFDI) undertaken by Chinese high-tech listed companies…
Abstract
Purpose
This paper aims to conduct an analysis of the influence of both the breadth and depth of outward foreign direct investment (OFDI) undertaken by Chinese high-tech listed companies during the period spanning 2010–2019. The data pertaining to these companies was used as a research sample to analyze the effects of OFDI on radical innovation performance.
Design/methodology/approach
Hierarchical regression analysis was used to test the proposed models, using survey data collected from 442 high-tech companies in China.
Findings
The findings of this study indicate a curvilinear (i.e. U-shaped) relationship between the breadth/depth of OFDI and radical innovation performance. Additional analysis reveals that OFDI plays a role in facilitating innovation breakthroughs by enhancing the internal dynamic capabilities of companies. Moreover, it is observed that a well-established institutional environment in the host country of investment can positively moderate the relationship between OFDI breadth/depth and radical innovation performance.
Originality/value
This study proffers a significant contribution to the understanding of the crucial role played by OFDI from emerging economy companies in enhancing radical innovation performance. Moreover, it offers theoretical guidance for multinational companies aiming to foster innovation breakthroughs.
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Ye Wang, Fusheng Wang and Shiyu Liu
This paper aims to discuss whether the attention of investors to abnormalities can serve as a mechanism for the influence of online media coverage on earnings management.
Abstract
Purpose
This paper aims to discuss whether the attention of investors to abnormalities can serve as a mechanism for the influence of online media coverage on earnings management.
Design/methodology/approach
Based on Baidu index data of China’s A-share listed companies between 2014 and 2018, this paper studies influencing mechanism of online media reports on earnings management from the perspective on abnormal investor attention.
Findings
The results show that internet media reports can impose pressure on managers of companies by inducing abnormal focus of the public on listed companies and further force the latter to generate more actions on the management of earnings. It is the abnormal rather than normal investor attention that mediates network media reports and earnings management.
Practical implications
This research enriches and refines the theory on influencing mechanism of media effects on earnings management and provides significant empirical evidence for future researches. Meanwhile, the conclusion of the research is of great practical importance for instructing listed firms dealing with media reports, guiding rational investment of investors and intensifying precision regulation of regulators.
Originality/value
By categorizing abnormal investor attention into active spontaneous abnormal attention which is not guided by media report and passive guided abnormal attention which is guided by media reports, the authors clarify the difference between the two categories. The result indicates that it is only the latter that is the influential mechanism of media report on earnings management.
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Fusheng Xie, Ling Gao and Peiyu Xie
This paper examines the different features of China's economic development in different stages of economic globalization. The study finds that the investment- and export-based…
Abstract
Purpose
This paper examines the different features of China's economic development in different stages of economic globalization. The study finds that the investment- and export-based growth model drove China's high-speed economic growth between 2000 and 2007, which came into existence around 2000 when China plugged into the global production network.
Design/methodology/approach
This paper also finds that China slowed down to the New Normal because of the disruption to the socio-economic underpinnings of this growth model. As China adapts to and steers the New Normal, supply-side structural reforms can channel excess capacity to the construction of underground pipe networks in rural areas of central China and fix capital while advance rural revitalization.
Findings
At the same time, enterprises must strive to build a key component development platform for key component innovation and the standard-setting power in global manufacturing.
Originality/value
The establishment of a domestic production network integrating the integrated innovation-driven core enterprises and modular producers at different levels can satisfy the dynamic demand structure of China in which standardized demands and personalized demands coexist.
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Cheng Zhang, Liang Wu, Zilong Zhao, Guangsheng Huang, Bin Jiang, A. Atrens and Fusheng Pan
This paper aims to investigate microstructure, corrosion behavior and mechanical properties of Mg-4Li and Mg-4Li-3Al.
Abstract
Purpose
This paper aims to investigate microstructure, corrosion behavior and mechanical properties of Mg-4Li and Mg-4Li-3Al.
Design/methodology/approach
The microstructure was characterized by using scanning electron microscopy and electron backscatter diffraction. The corrosion behaviors were measured by hydrogen evolution and potentiodynamic polarization tests. The mechanical properties were evaluated by tensile tests.
Findings
The addition of Al results in the precipitation of some Mg-Al phase and Al3Li phase particles, and the formation of some fine recrystallized grains.
Originality/value
Mg-4Li-3Al showed a higher corrosion rate than that of Mg-4Li, attributed to the precipitate particles in Mg-4Li-3Al causing microgalvanic corrosion and the change of grain orientation. The addition of 3 Wt. per cent Al increased the tensile strength by solid solution strengthening, precipitation strengthening, refinement strengthening and texture strengthening, whilst the elongation decreased by almost half.
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Yixuan Kang, Yanyan Ma and Fusheng Wang
With growing evidence of financial misconduct spreading through director networks, research on financial fraud contagion has garnered significant attention. This study…
Abstract
Purpose
With growing evidence of financial misconduct spreading through director networks, research on financial fraud contagion has garnered significant attention. This study incorporates the regulatory enforcement perspective into existing literature to examine how regulatory penalties mitigate financial fraud contagion within director networks.
Design/methodology/approach
This study uses a panel dataset of A-share listed Chinese firms covering 2007–2022. Based on the nature of the dataset, we construct ordinary least squares regression models with firm- and year-fixed effects. Data are collected from the China Stock Market and Accounting Research, Wind Information Co., Ltd and China Research Data Services. We use Python to scrape the coordinates of regulators and firms and retrieve travel distances from the Baidu Maps API.
Findings
This study verifies the existence of financial fraud contagion in director networks. Our findings indicate that regulatory penalties can mitigate the contagion between director-interlocked firms, improving accounting quality. Moreover, the mitigation effects are mediated by independent directors’ dissent and auditors’ efforts at director-interlocked firms and are more pronounced when these firms have superior network centrality and internal control quality.
Originality/value
This study enriches the literature on financial fraud contagion by examining director networks and regulatory penalties. We propose mediating effects of auditor effort and director dissents on the relationship between regulatory penalties and financial fraud contagion. Our findings provide insights for regulators to alleviate pressures and highlight the importance for directors to consider financial risks within their networks.