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Mobility Analysis of Novel Deployable Mechanism Based on Tetrahedral Element

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2019年第12期55卷 9-18页

作者： Guo, Jinwei Xu, Yundou Liu, Wenlan Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

The DOF (degree of freedom) analysis is carried out for the symmetrical and asymmetrical composite unit mechanism based on the 3RR-3URU tetrahedral element and the deployable composite unit structure based on the 3UU-3URU tetrahedral basic element. Firstly, the DOF and properties of 3RR-3URU tetrahedral basic element are analyzed based on the link-demolishing and equivalent method. The basic elements are combined into symmetric 3RR-3URU composite unit and asymmetric 3RR-3URU composite unit. Then, the structures and the geometric constraints of the two composite units are analyzed, and the screw theory and G-K formula are applied to analyze the DOF of the two composite units. Secondly, in view of the problem that the composite unit based on 3RR-3URU cannot satisfy the large deployable antenna mechanism, the 3UU-3URU basic element and its composite unit are proposed, and the DOF of which are obtained according to G-K formula. Finally, the simulation models of three composite units are established, and the ADAMS simulation software is used to simulate the motion of the three combined units. The simulation results verify the correctness of the DOF analysis. The results provide an important theoretical basis for the design and analysis of tetrahedral deployable antenna mechanism. © 2019 Journal of Mechanical Engineering.

关键词： Degrees of freedom (mechanics)

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Teeth profile parameter design and transmission property analysis of external generating wave movable teeth transmission

Teeth profile parameter design and transmission property ana...

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19th International Conference of Fluid Power and Mechatronic Control Engineering 2018

作者： Yi, Yali Gao, Yunfei Wei, Rui Jin, Herong College of Mechanical Engineering Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China

A highly efficient integrated transmission unit - external generating wave movable teeth transmission − was proposed and two kinds of typical transmission types were researched. Fixed and moving coordinate systems were established based on movable teeth transmission theory. On the basis of the profile of a wave generator, the teeth profile equations of ring gear were deduced by using the transform matrix and profile enveloping principle. The effects of the teeth number of the ring gear, generating wave coefficient, and tooth profile coefficient on the profile of the ring gear were investigated. The formula for calculating curvature radius of the ring gear was given. The pressure angle formulas were deduced, and the change rule of the pressure angle extremum was researched to obtain a continuous transmission condition. The relationship between design parameters and performance effect was analysed based on the analysis of the curvature and pressure angle. The results show that the transmission precision reached 97.67%, and the proper design parameters could guarantee transmission performance. Those researches lay a theoretical foundation for the design and application of an external generating wave movable teeth title. © 2019 Institution of Engineering and technology. All rights reserved.

关键词： Gear teeth

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Batch Normalization Masked Sparse Autoencoder for robotic Grasping Detection

Batch Normalization Masked Sparse Autoencoder for Robotic Gr...

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2020 IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Zhenzhou Shao Ying Qu Guangli Ren Guohui Wang Yong Guan Zhiping Shi Jindong Tan Beijing Advanced Innovation Center for Imaging Technology and Beijing Key Laboratory of Light Industrial Robot and Safety Verification Capital Normal University Beijing China The Engineering College The University of Tennessee Knoxville TN USA State Key Laboratory for Management and Control of Complex Systems Institute of Automation Beijing China

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

To improve the accuracy of the grasping detection, this paper proposes a novel detector with batch normalization masked evaluation model. It is designed with a two-layer sparse autoencoder, and a Batch Normalization based mask is incorporated into the second layer of the model to effectively reduce the features with weak correlation. The extracted features from such model are more distinctive, which guarantees the higher accuracy of the grasping detection. Extensive experiments show that the proposed evaluation model outperforms the state-of- the-art, and the recognition accuracy can reach 95.51% for robotic grasping detection.

关键词： Training Redundancy Grasping Detectors Feature extraction Intelligent robots Load modeling

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Profile Division and Programmatic Modeling of Tetrahedral Truss Deployable Antennas

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Zhongguo Jixie Gongcheng/China Mechanical Engineering 2019年第12期30卷 1400-1408页

作者： Han, Bo Xu, Yundou Guo, Luyao Zhang, Shuo Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University QinhuangdaoHebei066004 China

Tetrahedral truss deployable antennas were studied, and a simple profile division method was proposed. Based on MATLAB and SOLIDWORKS, a programmatic modeling method was proposed. Custom software development for SOLIDWORKS was completed by VBA programming language, and visual operation interfaces were designed. Two examples of deployable antenna mechanisms were used to verify the correctness of the profile division method and the programmatic modeling processes. The proposed profile division method proposed herein is simple and the quality of the profile mesh is good, the method of programmatic modeling is convenient and quick to model the antenna mechanisms, and the overall design efficiency is greatly improved. © 2019, China Mechanical Engineering Magazine Office. All right reserved.

关键词： MATLAB

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Dynamics Parameter Identification and Control of a Spherical 2-DOF Redundant Driven Parallel robot System

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Zhongguo Jixie Gongcheng/China Mechanical Engineering 2019年第16期30卷 1967-1975页

作者： Li, Yongquan Wu, Pengtao Zhang, Yang Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education Yanshan University QinhuangdaoHebei066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University QinhuangdaoHebei066004 China

A spherical 2-DOF redundant drive parallel robot driven by servo motor was the research ***, the inertia parameter identification model of the mechanisms was established, and the inertial parameter identification trajectory was ***, the friction parameter identification model of the mechanism pairs and the friction parameter identification model of the driving system were established, and their identification principles were analyzed *** trajectory of friction parameter identification was also ***, through the identification experiments, the mechanism inertia parameters, the mechanism rotation pair friction parameters and the driving system friction parameter identification results were obtained, the original mechanism parameters were modified by the identification results, a more accurate robot system dynamics model was obtained, and the identification results were validated by the trajectory test ***, a feed forward control strategy was developed based on the dynamics model of the robot system and compared with the traditional mechanism kinematics closed-loop control *** feasibility of this control strategy was proved. © 2019, China Mechanical Engineering Magazine Office. All right reserved.

关键词： Mechanisms

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Research on Change Path Optimization for Complex Mechanical Products Considering upgrade Risk

Research on Change Path Optimization for Complex Mechanical ...

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Digital Society and Intelligent Systems (DSInS), International Conference on

作者： Qin Zhang Jinlong Pan Hu Chen Yixiong Feng Zhaoxi Hong Key Laboratory of Robot System Integration and Intelligent Equipment of Huzhou Huzhou Vocatinal & Technical College Huzhou P. R. China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou P. R. China Shanghai Space Propulsion Technology Research Institute Shanghai P. R. China Shanghai Institute of Special Equipment Inspection and Technical Research Shanghai P. R. China Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province Zhejiang University Hangzhou P. R. China

ISBN: (纸本)9781665406314

Affected by uncertain factors such as customer demand, product design process will face with varying degrees of upgrade risk. In order to response to change requirements and reduce the impact of component changes, change path optimization for complex products considering upgrade risk is proposed. The goal of this work is to optimize change paths with multi-objective programming. The optimization model is constructed with the goal of minimizing the change complexity, the minimizing change propagation intensity and minimizing the change time. The improved whale algorithm is proposed to solve the model. A set of non-dominated solutions is obtained which can guide decision makers to choose the appropriate scheme. Finally, a product change path optimization for an elevator is given to verify the effectiveness of the proposed method.

关键词： Whales Pareto optimization Product design Elevators Mechanical products Complexity theory Intelligent systems

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Registration of inconsistent point cloud maps with large scale persistent features 15

Registration of inconsistent point cloud maps with large sca...

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15th International Conference on Informatics in Control, Automation and robotics, ICINCO 2018

作者： Thompson, Simon Yokozuka, Masahi Hashimoto, Naohisa Smart Mobility Research Group Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology Tsukuba Japan

ISBN: (纸本)9789897583216

Accurate point cloud registration techniques such as Iterative Closest Point matching have been developed to produce large scale 3D maps of the environment. Typically they iteratively register point clouds captured from adjacent sensor scans resulting in point clouds which are largely consistent. However, merging two seperate point cloud maps constructed at different times can lead to significant inconsistencies between the point clouds. Existing point based registration techniques can be sensitive to local minima caused by such inconsistencies. Feature based approaches can overcome local minimum but are typically less accurate, and can still suffer from correspondence errors. We introduce Large Scale Persistent Features (LSPFs), sub regions of point clouds that have orthogonal planar regions that are consistent and persist over a large spatial area. Each LSPF is used to calculate an individual transformation estimate using traditional registration techniques. Sampling Consensus is then used to select the best transform which is used for registration, avoiding local minima. LSPF registration is applied to simulated point cloud maps with known inconsistencies and shown to perform with more accuracy and lower computation time than other popular approaches. In addition, real world registration results are presented which demonstrate LSPF registration between MMS maps and low cost sensor maps captured 6 months apart. Copyright © 2018 by SCITEPRESS – Science and technology Publications, Lda. All rights reserved

关键词： Iterative methods

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Design and experimental study of the remote control for a novel patient transfer apparatus

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Journal of Physics: Conference Series 2021年第6期1748卷

作者： Yu Tian Hongbo Wang Yongshun Zhang Junjie Tian Jiazheng Du Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao Hebei China

This paper introduces the design of the remote control for a novel patient transfer apparatus. First, the overall design of the control system is put forward based on the working principle, and design requirements of the apparatus. Second, voltage regulator circuit of the remote control based on the MC34063 is designed to fit for the OLED displayer, parameters such as the filter capacitor have been determined. Next, wireless communication unit adopted CC1110 and the communication instruction code is introduced. Then, the interaction interface of the remote control is finished to facilitate the implementation of the adjustment functions. finally, a simulation and a real experiment has been completed, it indicates the correctness of the voltage regulator circuit and the effectiveness of the remote control respectively.

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Standing Assistance Control based on Voluntary Body Movement within Safety Tolerance

Standing Assistance Control based on Voluntary Body Movement...

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International Workshop on advanced Motion Control (AMC)

作者： Daisuke Chugo Masahiro Yokota Satoshi Muramatsu Sho Yokota Jin-Hua She Hiroshi Hashimoto Takahiro Katayama Yasuhide Mizuta Atsushi Koujina Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan School of Science and Information and Telecommunication Engineering Tokai University Hiratsuka Kanagawa Japan Faculty of Science and Engineering Toyo University Kawagoe Saitama Japan School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan Service Robot Division RT.WORKS CO. LTD Osaka Japan

ISBN: (数字)9781728131894

ISBN: (纸本)9781728131900

This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a fixed motion reference pathway in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. In our previous study, we investigated the posture tolerance during a standing motion. In this tolerance, patients could stand by own muscle strength with stable posture. Thus, as the next step, this paper proposes assistance force control scheme which considers the investigated posture tolerance. Our robot generated assistance force, which lead the voluntary movement with their remaining physical strength within investigated range, by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength.

关键词：

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Comfort degree of patients' rehabilitation training based on DSmT theory

Comfort degree of patients' rehabilitation training based on...

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第二届计算智能、工程与技术国际研讨会

作者： Hongbo Wang Hao Yan Baoshan Niu Xincheng Wang Yafeng Li Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Academy for Engineering &Technology Fudan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor informationof fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling.

关键词： Comfort degree of patients rehabilitation training based on DSmT theory

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