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学者姓名：贾超
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Abstract ：
Miniature robots are increasingly used in unstructured environments and require higher mobility, robustness, and multifunctionality. However, existing purely soft and rigid designs suffer from inherent defects, such as low load capacity and compliance, respectively, restricting their functionality and performance. Here, we report new soft-rigid hybrid miniature robots applying the tensegrity principle, inspired by biological organisms' remarkable multifunctionality through tensegrity micro-structures. The miniature robot's speed of 25.07 body lengths per second is advanced among published miniature robots and tensegrity robots. The design versatility is demonstrated by constructing three bio-inspired robots using miniature tensegrity joints. Due to its internal load-transfer mechanisms, the robot has self-adaptability, deformability, and high impact resistance (withstand dynamic load 143,868 times the robot weight), enabling the robot to navigate diverse barriers, pipelines, and channels. The robot can vary its stiffness to greatly improve load capacity and motion performance. We further demonstrate the potential biomedical applications, such as drug delivery, impurity removal, and remote heating achieved by integrating metal into the robot.
Keyword ：
high-speed and adaptive locomotion high-speed and adaptive locomotion tunable stiffness tunable stiffness untethered miniature tensegrity robot untethered miniature tensegrity robot
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| GB/T 7714 | Chen, Bingxing , He, Zhiyu , Ye, Fang et al. Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion [J]. | SOFT ROBOTICS , 2025 . |
| MLA | Chen, Bingxing et al. "Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion" . | SOFT ROBOTICS (2025) . |
| APA | Chen, Bingxing , He, Zhiyu , Ye, Fang , Yang, Yi , Chen, Wenhu , Ding, Fuhui et al. Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion . | SOFT ROBOTICS , 2025 . |
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In view of the problems of the complex design, difficult machining, and high manufacturing cost of a traditional nutation reducer, this paper intends to design a nutation reducer and study its meshing performance. First, the meshing pair is designed by the method of internal and external cutting of the shaper cutter, and the method of face gear tooth surface modification is proposed. Second, based on tooth contact analysis (TCA) and loaded tooth contact analysis (LTCA), the contact performance of the meshing pair is studied. Then, the nutation reducer is improved by using the pair instead of the internal bevel gear pair. Finally, examples are presented to test the feasibility of the improved design. The results show that the improved nutation reducer maintains the advantages of a large transmission ratio and high bearing capacity of the traditional nutation reducer and can make use of the advantages of face gears to further improve its transmission performance. This study can lay a foundation for the further application and popularization of nutation reducers.
Keyword ：
face gear face gear meshing performance analysis meshing performance analysis nutation drive nutation drive reducer design reducer design tooth modification tooth modification
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| GB/T 7714 | Chen, Haoyu , Li, Qinghai , Jia, Chao . Research on the Design and Meshing Performance Analysis of Face Gear Face Gear Meshing Nutation Reducers [J]. | MATHEMATICS , 2025 , 13 (3) . |
| MLA | Chen, Haoyu et al. "Research on the Design and Meshing Performance Analysis of Face Gear Face Gear Meshing Nutation Reducers" . | MATHEMATICS 13 . 3 (2025) . |
| APA | Chen, Haoyu , Li, Qinghai , Jia, Chao . Research on the Design and Meshing Performance Analysis of Face Gear Face Gear Meshing Nutation Reducers . | MATHEMATICS , 2025 , 13 (3) . |
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In order to improve the contact strength and reduce the sliding friction of the gear pair, an internal cylindrical gear pair with a curved meshing line is studied in this paper. Firstly, a curved meshing line is designed. The tooth profiles of the internal gear pair with the designed meshing line are calculated by using differential geometry and the gear meshing principle. Secondly, a wear model is established by combining the finite element method and the Archard wear formula. Then, a numerical simulation is conducted; the relative curvature, sliding coefficient, sliding distance, maximum contact pressure, transmission error, and wear depth are calculated. Ultimately, the variation law of tooth surface wear of new gear with and without installation errors is observed under different stress cycles. On this basis, the influence of tooth modification on tooth surface wear is further researched. Through the results, the advantages of the introduced novel internal cylindrical gears in wear resistance are further demonstrated. The study in this paper provides new research ideas and methods for gear wear research and gear design.
Keyword ：
curved meshing line curved meshing line internal cylindrical gears internal cylindrical gears numerical analysis numerical analysis tooth contact tooth contact wear characteristics wear characteristics
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| GB/T 7714 | Jia, Chao , Zhang, Ge , Li, Guoju . Numerical Analysis of Tooth Contact and Wear Characteristics of Internal Cylindrical Gears with Curved Meshing Line [J]. | APPLIED SCIENCES-BASEL , 2024 , 14 (13) . |
| MLA | Jia, Chao et al. "Numerical Analysis of Tooth Contact and Wear Characteristics of Internal Cylindrical Gears with Curved Meshing Line" . | APPLIED SCIENCES-BASEL 14 . 13 (2024) . |
| APA | Jia, Chao , Zhang, Ge , Li, Guoju . Numerical Analysis of Tooth Contact and Wear Characteristics of Internal Cylindrical Gears with Curved Meshing Line . | APPLIED SCIENCES-BASEL , 2024 , 14 (13) . |
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A study on the dynamic characteristics of non-orthogonal helical face gears with higher-order tooth surface modification is presented in this article. The method of designing the non-orthogonal helical face gears with higher-order tooth surface modification is described. First, MATLAB programming that can be used for the parameterized 3D mesh calculations of non-orthogonal helical face gears with higher-order tooth surface modification are completed. Second, the calculated grid nodes from the MATLAB programming are imported into ABAQUS to generate a three-dimensional mode. The meshing stiffness of the gear pair is then estimated using finite element analysis. Ultimately, a dynamic model of a non-orthogonal helical face gear pair involving second-order and higher-order tooth surface modifications is established. One example is presented to study the dynamic characteristics of non-orthogonal helical face gear pairs with second-order and higher-order tooth surface modifications. The results show that the dynamic response from the second-order tooth surface modification has a higher peak-to-peak amplitude than that of the higher-order modification.
Keyword ：
dynamic characteristics dynamic characteristics higher-order transmission error higher-order transmission error non-orthogonal helical face gears non-orthogonal helical face gears tooth surface modification tooth surface modification
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| GB/T 7714 | Jia, Chao , Zhang, Ge . Investigation on the Dynamic Characteristics of Non-Orthogonal Helical Face Gears with Higher-Order Tooth Surface Modification [J]. | MATHEMATICS , 2024 , 12 (3) . |
| MLA | Jia, Chao et al. "Investigation on the Dynamic Characteristics of Non-Orthogonal Helical Face Gears with Higher-Order Tooth Surface Modification" . | MATHEMATICS 12 . 3 (2024) . |
| APA | Jia, Chao , Zhang, Ge . Investigation on the Dynamic Characteristics of Non-Orthogonal Helical Face Gears with Higher-Order Tooth Surface Modification . | MATHEMATICS , 2024 , 12 (3) . |
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A novel high load bearing internal gear drive with curved meshing line is presented in this paper, and its performance is compared with that of an involute internal gear drive by finite element calculation. First, the novel gears' meshing line is an S-shaped curve composed of two parabolas. Second, the novel gears' tooth profiles based on the curved meshing line are designed using differential geometry and gear meshing theory. Third, three-dimensional mesh models of the novel gears are created by procedures, then using finite element calculation to analyze the stress of gear meshing. Finally, numerical examples demonstrate that the novel gears have lower stress and a smoother sliding coefficient than involute gears, implying that the former has a greater benefit in bearing capacity and wear performance. Meanwhile, tooth modifications can improve stress concentration, hence increasing the load-bearing capability of the novel gears.
Keyword ：
curved meshing line curved meshing line finite element calculation finite element calculation High load bearing High load bearing internal gear drive internal gear drive tooth direction modification tooth direction modification tooth profile modification tooth profile modification
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| GB/T 7714 | Jia, Chao , Li, Guoju . Computerized design and analysis of a novel high load bearing internal gear drive with curved meshing line [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE , 2024 , 239 (2) : 613-624 . |
| MLA | Jia, Chao et al. "Computerized design and analysis of a novel high load bearing internal gear drive with curved meshing line" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 239 . 2 (2024) : 613-624 . |
| APA | Jia, Chao , Li, Guoju . Computerized design and analysis of a novel high load bearing internal gear drive with curved meshing line . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE , 2024 , 239 (2) , 613-624 . |
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Abstract ：
基于弧齿锥齿轮的复杂齿面设计和实际啮合情况,提出一种利用齿廓成型刀具的齿廓建模方法,能有效实现弧齿锥齿轮齿廓的精确建模.以弧齿锥齿轮为主要建模对象,提出自动化建模及装配方法,开发一种参数化设计系统软件.该软件能够实现弧齿锥齿轮的自动化快速建模和装配,缩短建模时间,提高设计质量与效率,有助于推动产业数字化转型,发展高端装备制造业.
Keyword ：
参数化设计 参数化设计 工业软件 工业软件 弧齿锥齿轮 弧齿锥齿轮 自动化建模及装配 自动化建模及装配
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| GB/T 7714 | 姚立纲 , 黄思捷 , 贾超 et al. 弧齿锥齿轮齿面建模和参数化设计系统软件开发 [J]. | 福州大学学报（自然科学版） , 2024 , 52 (5) : 560-568 . |
| MLA | 姚立纲 et al. "弧齿锥齿轮齿面建模和参数化设计系统软件开发" . | 福州大学学报（自然科学版） 52 . 5 (2024) : 560-568 . |
| APA | 姚立纲 , 黄思捷 , 贾超 , 丁嘉鑫 , 蔡英杰 . 弧齿锥齿轮齿面建模和参数化设计系统软件开发 . | 福州大学学报（自然科学版） , 2024 , 52 (5) , 560-568 . |
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为了探究新型曲线型啮合线齿轮接触特性与磨损特征规律,构建了新型齿轮的有限元三维模型,利用ABAQUS对其进行承载接触分析,在此基础上,基于Hertz接触理论和Archard磨损公式,建立了新型曲线型啮合线齿轮磨损模型,并对新型齿轮齿面磨损特性进行了数值仿真,计算齿面相对滑动距离,求出在准静态载荷下齿面磨损量及磨损曲线.最终将新型齿轮与渐开线齿轮的承载接触特性和磨损规律做了对比研究,研究结果表明:与渐开线齿轮相比,新型曲线型啮合线齿轮在承载能力和传动平稳性方面都更优,尤其是齿面接触应力可减小高达17.0%以上.曲线啮合线齿轮齿面磨损深度沿齿廓方向分布不均匀,曲线啮合线齿轮齿面磨损深度从齿根到节点位置逐渐减小,而后从节点到齿顶位置又逐渐增大,且齿根位置的齿面磨损深度大于齿顶位置的齿面磨损深度.新型齿轮副的最大磨损深度降低了28.44%,可以有效改善渐开线齿轮副存在的非均匀磨损现象,从而延长齿轮传动装置的使用寿命,该研究成果为降低齿轮磨损研究和新型齿轮齿廓设计提供了思路和方法.
Keyword ：
接触特性 接触特性 曲线型啮合线 曲线型啮合线 磨损计算 磨损计算 齿形设计 齿形设计 齿面滑动率 齿面滑动率
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| GB/T 7714 | 贾超 , 吕云涛 , 贺庆拓 . 新型曲线型啮合线齿轮齿面接触与磨损分析 [J]. | 摩擦学学报（中英文） , 2024 , 44 (10) : 1345-1354 . |
| MLA | 贾超 et al. "新型曲线型啮合线齿轮齿面接触与磨损分析" . | 摩擦学学报（中英文） 44 . 10 (2024) : 1345-1354 . |
| APA | 贾超 , 吕云涛 , 贺庆拓 . 新型曲线型啮合线齿轮齿面接触与磨损分析 . | 摩擦学学报（中英文） , 2024 , 44 (10) , 1345-1354 . |
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Introduction: Regular and rapid large-scale screening for pathogens is crucial for controlling pandemics like Coronavirus Disease 2019 (COVID-19). In this study, we present the development of a digital point-of-care testing (POCT) system utilizing microfluidic paper-based analytical devices (mu PADs) for the detection of SARS-CoV-2 gene fragments. The system incorporates temperature tuning and fluorescent detection components, along with intelligent and autonomous image acquisition and self-recognition programs. Methods: The developed POCT system is based on the nucleic acid amplification test (NAAT), a well-established molecular biology technique for detecting and amplifying nucleic acids. We successfully detected artificially synthesized SARS-CoV-2 gene fragments, namely ORF1ab gene, N gene, and E gene, with minimal reagent consumption of only 2.2 mu L per readout, representing a mere 11% of the requirements of conventional in-tube methods. The power dissipation of the system was low, at 6.4 W. Results: Our testing results demonstrated that the proposed approach achieved a limit of detection of 1000 copies/mL, which is equivalent to detecting 1 copy or a single RNA template per reaction. By employing standard curve analysis, the quantity of the target templates can be accurately determined. Conclusion: The developed digital POCT system shows great promise for rapid and reliable detection of SARS-CoV-2 gene fragments, offering a cost-effective and efficient solution for controlling pandemics. Its compatibility with other diagnostic techniques and low reagent consumption make it a viable option to enhance healthcare in resource-limited areas.
Keyword ：
automatic image processing automatic image processing NAAT NAAT paper microfluidics paper microfluidics POCT POCT SARS-CoV-2 template detection SARS-CoV-2 template detection
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| GB/T 7714 | Dong, Hui , Mo, Jin , Yu, Yongjian et al. A portable system for economical nucleic acid amplification testing [J]. | FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY , 2023 , 11 . |
| MLA | Dong, Hui et al. "A portable system for economical nucleic acid amplification testing" . | FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY 11 (2023) . |
| APA | Dong, Hui , Mo, Jin , Yu, Yongjian , Xie, Wantao , Zheng, Jianping , Jia, Chao . A portable system for economical nucleic acid amplification testing . | FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY , 2023 , 11 . |
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S-gear is a new type of gear with the advantages of small sliding coefficient, high meshing efficiency and large load-bearing capacity due to the concave-convex contact in a vicinity of the meshing start and end. In view of the excellent characteristics and potential value of S-gears, this paper deeply studies the designation and meshing characteristics of the S-gears. First, based on the relationship of S-shaped rack-cutter and machining motion, the tooth surface of the S-gears is generated. Second, by superimposing the surface of modified volume with the standard tooth surface, the modified tooth surface of S-gears is constructed. On this basis, using MATLAB programming, the coordinates of 3D grid node of modified S-gears are calculated. Third, loaded tooth contact analysis (LTCA) is used to study the meshing characteristics of the S-gears with longitudinal modifications and misalignment angle errors. Ultimately, one example is presented and the result shows that after tooth surface modification, the load distribution of S-gears is effectively improved and error sensitivity is greatly reduced. S-gear is a new type of gear which is different from involute gears and has great potential application prospect in large load-bearing field, which will be further studied in the future.
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| GB/T 7714 | C Jia , J M Xiao . Computerized Simulation of Meshing of S-gears and Modification Geometry [J]. | Journal of Physics:Conference Series , 2023 , 2512 (1) . |
| MLA | C Jia et al. "Computerized Simulation of Meshing of S-gears and Modification Geometry" . | Journal of Physics:Conference Series 2512 . 1 (2023) . |
| APA | C Jia , J M Xiao . Computerized Simulation of Meshing of S-gears and Modification Geometry . | Journal of Physics:Conference Series , 2023 , 2512 (1) . |
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The new internal S-gear and its contact characteristics were studied. Based on the S-shaped tooth profile cutter and relationship of machining motion, the teeth surface equations of the new internal S-gear were deduced, and the interference check of internal S-gear pair was derived. The modified tooth surface was constructed by superimposing the modified surface onto the standard tooth surface.On this basis, Matlab programming was used to calculate the coordinate of the three-dimensional grid node of the modified gear.The geometric contact characteristics and loaded contact characteristics of internal S-gear pair under different modifications and errors were studied by using tooth contact analysis (TCA) and loaded tooth contact analysis (LTCA). The calculation example was given, and the results show that the newly designed internal S-gear does not produce root cutting or interference, and the working teeth surface contact performance is good, and the correct meshing transmission can be achieved. After teeth surface modification, load distribution of internal S-gears teeth surface is improved effectively and its error sensitivity is reduced. © 2023 Huazhong University of Science and Technology. All rights reserved.
Keyword ：
Gear teeth Gear teeth MATLAB MATLAB
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| GB/T 7714 | Jia, Chao , Cheng, Hongye , Li, Guoju et al. Design and meshing characteristics analysis of new internal S-gear [J]. | Journal of Huazhong University of Science and Technology (Natural Science Edition) , 2023 , 51 (12) : 60-65 . |
| MLA | Jia, Chao et al. "Design and meshing characteristics analysis of new internal S-gear" . | Journal of Huazhong University of Science and Technology (Natural Science Edition) 51 . 12 (2023) : 60-65 . |
| APA | Jia, Chao , Cheng, Hongye , Li, Guoju , Fang, Zongde . Design and meshing characteristics analysis of new internal S-gear . | Journal of Huazhong University of Science and Technology (Natural Science Edition) , 2023 , 51 (12) , 60-65 . |
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