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Configuration Design and Mobility Analysis of the Scissors Overconstrained Double-Ring Truss Deployable Antenna Mechanism

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Jiqiren/robot 2019年第3期41卷 362-371and383页

作者： Han, Bo Han, Yuanyuan Xu, Yundou 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 Education Yanshan University Qinhuangdao066004 China Department of Mathematics and Computer Science Hengshui University Hengshui053000 China

Based on the overconstrained scissors mechanism unit, a scissors overconstrained double-ring truss deployable antenna mechanism is constructed as a support mechanism for the satellite antenna. Firstly, the configuration mechanism and overconstraint characteristics of the scissors overconstrained double-ring truss mechanism are analyzed, and the units of the whole truss mechanism are decomposed. Then, the geometric conditions for the ring structure of the scissors overconstrained double-ring truss mechanism are derived in consideration of the effects of joint size. Furthermore, the screw constraint topology of the decomposed mechanism units is drawn based on the graph theory and screw theory, and the mobilities of the closed-loop deployable mechanism unit and the double-ring truss mechanism are analyzed. The result shows that the mobility of the whole double-ring truss mechanism is the same as that of the closed-loop deployable mechanism, with only one mobility. Finally, a simulation model of the double-ring truss deployable antenna mechanism is built, the deploying process of the whole double-ring truss is simulated, and the deployable feature is verified. The proposed scissors overconstrained double-ring truss deployable antenna mechanism has only one mobility, its kinematic joints are all revolute joints, and the movement form is simple. © 2019, Science Press. All right reserved.

关键词： Screws

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Type Synthesis of Ring Truss Deployable Antenna Mechanism Based on Screw Theory

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Yuhang Xuebao/Journal of Astronautics 2019年第7期40卷 831-841页

作者： Han, Bo Xu, Yun-Dou Han, Yuan-Yuan Yao, Jian-Tao Zhao, Yong-Sheng 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 Education Yanshan University Qinhuangdao066004 China Department of Mathematics and Computer Science Hengshui University Hengshui053000 China

Based on the screw theory, the type synthesis of the ring truss deployable antenna mechanism is studied. Firstly, the constrained synthesis method based on the screw theory is briefly introduced, and the deployment principle of the ring truss deployable antenna mechanism is analyzed. Then, the ring truss mechanism is divided into two parts, the upper ring edge and the lower ring edge, the ring truss mechanism can be obtained by constructing the ring edge mechanisms and connecting the upper and lower ring edges. Furthermore, the prismatic joint (P) ARE used to describe the movement characteristics of each node, the analysis and synthesis of the ring edge mechanisms are carried out by the constraint synthesis method based on the screw theory, 16 kinds of constraint branch mechanisms are obtained, and two kinds of constraint branch mechanisms are selected through analysis and optimization. The ring edge link mechanisms are obtained by combining the constraint branch mechanisms, and four ring truss deployable mechanisms are obtained through different connection combinations. Finally, three-dimensional models are built in Solidworks software for the four kinds of ring truss deployable mechanisms, and the deployable features of the four mechanisms are verified by the movement simulation. The research provides a new idea for the synthesis of the deployable antenna mechanisms, and the ring truss mechanisms obtained have a good application prospect in the field of space deployable antenna. © 2019, Editorial Dept. of JA. All right reserved.

关键词： Computer software

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Continuous Flash Suppression Inhibits Semantic Processing of Chinese Characters with Unawareness: An Event-Related Potential Study

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Journal of Behavioral and Brain Science 2018年第10期8卷 574-586页

作者： Yiran Lang Ming Gao Rongyu Tang Beijing Advanced Innovation Center for Intelligent Robot & System Beijing Institute of Technology Beijing China

Semantic processing is a high level cognition function of the human brain. It has been argued intensively whether this process could be accomplished in the absence of awareness. Continuous flash suppression (CFS) is a powerful approach to create stable unconscious state. In this study, subjects were required to observe a series of paired Chinese words and judge the correlation between them in CFS paradigm. A negative component of event related potential, N400, and a Brain symmetry index were used to measure whether the meaning of the paired stimulus was registered in subliminal semantic processing. Analysis didn’t detect a significant difference in N400 response and EEG signal symmetry between correlated and uncorrelated pairs under unconscious condition. These results support the view that semantic information of Chinese character processing is absent without consciousness created by CFS.

关键词： Continuous Flash Suppression Semantic Processing Awareness N400

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Design of an ergonomic App for entire rapid body assessment based on Mask RCNN

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Journal of Physics: Conference Series 2020年第1期1633卷

作者： Shuai Wu Ziwen Chen Xinqiao Zhao Maoyun Yao Zihao Wang Shaolong Kuang School of Mechanical and Electrical Engineering Suzhou University Suzhou China Jiangsu Provincial Key Laboratory of Advanced Robot Technology Suzhou University Jiangsu

The rapid entire body assessment (REBA) is a rapid and semi-quantitative ergonomic assessment method for those who engaged in manual handling and/or standing work for a long time. In order to provide a self-assessment tool for operators, an App software based on Mask RCNN is proposed in this paper. The software is developed by adopting the architecture of a mobile terminal App combined with an imaging processing server. The main functions of the App are video capturing of work process, the operation of the process of REBA, human-machine interaction, etc., while the server is work for processing the video imaging transmitted from the App, key-points extraction of worker's body from the images for work posture identification. One thousand working scene photos marked by VIA are used for training and testing based on the Microsoft COCO dataset to obtain a reliable target detection model. Experiment of container handling scene shows that the App evaluation software has achieved higher evaluation efficiency and accuracy. The validation of this method has been proved compared with manual evaluation based on REBA. And other work posture evaluation methods will be developed in the future to form an ergonomic evaluation software system.

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Isotropic Analysis of Line Vector Forces and Its Application in Type Synthesis of Mechanisms

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Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 2019年第1期50卷 406-411页

作者： Xu, Yundou Guo, Jinwei Wang, Zhifeng Chen, Yang Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forgingand Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao066004 China Capital Aerospace Machinery Co. Ltd. Beijing100076 China

The carrying capacity of a mechanism is closely related to its line vector force. A thorough isotropic analysis of line vector forces was presented. The results showed that the isotropic condition can be satisfied when the line vector forces were evenly distributed on a conical surface with a cone-top angle of 109.472°. In addition, since few three degrees-of-freedom (DOFs) translational redundantly actuated parallel manipulators were reported, by combining the isotropic line vector forces, a method for the type synthesis of 3-DOF, redundantly actuated translational parallel mechanisms (PMs) was proposed, in which the arrangement of the active joints was taken into account in advance. Using this method, firstly a kinematic chain with a twist system reciprocal to both the constraint and actuation wrenches was constructed, and then the active joint reciprocal to the constraint wrenches but not to the actuation wrench was constructed. Thus, a series of typical redundantly actuated PMs with isotropic actuation forces were obtained. Finally, the 4-PRRR PM was analyzed as an example, and the results showed that the isotropy of the load-carrying capacity can always be satisfied during its movement, because the condition of force Jacobian matrix was always equal to one, which to some extent verified the correctness of the isotropic analysis and the synthesis method proposed in this research. For this method, it not only satisfied the expected requirements, but also meant that the active joints no longer needed to be selected, and the rationality of the selection did not need to be considered, which provided a new method for the type synthesis of parallel manipulators. © 2019, Chinese Society of Agricultural Machinery. All right reserved.

关键词： Vectors

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Energy-efficient narrow wall climbing of six-legged robot

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ROBOMECH Journal 2018年第1期5卷 1页

作者： Ohara, Kenichi Toda, Takeshi Kamiyama, Kazuto Kojima, Masaru Horade, Mitsuhiro Mae, Yasushi Arai, Tatsuo Department of Mechatronics Engineering Faculty of Science and Technology Meijo University 1-501 Shiogamaguchi Tempaku NagoyaAichi468-8502 Japan Graduate School of Engineering Science Osaka University 1-3 Machikaneyama ToyonakaOsaka568-8502 Japan The University of Electro-Communications 1-5-1 Chofugaoka ChofuTokyo182-8585 Japan Beijing Advanced Innovation Center for Intelligent Robot and Systems Beijing Institute of Technology No.5 Zhongguancun South Street Haidian Beijing100081 China

In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies. © 2018, The Author(s).

关键词： robots

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Deployable antenna mechanism with class of modular truss based on tetrahedral combination unit

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2020年第3期41卷 423219页

作者： Guo, Jinwei Huang, Zhirong Xu, Yundou Guo, Luyao Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Xi'an710100 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

To solve the complex structure, the low folding rate, and the large number of motion pairs of the existing tetrahedral-based truss antenna mechanism, a class of new modular deployable structure is proposed based on the 3RR-3RRR tetrahedral combination unit and the 3RR-3URU tetrahedral symmetric combination unit. The modular structure consisting of three combination units is selected as the analysis object. First, the composition of the modular structure and the axis arrangement of the Hook hinges are introduced in detail, and the number and property of the Degree of Freedom (DOF) of the combination unit itself are obtained by applying the idea of link-demolishing-equivalent-restoration, the screw theory and the G-K formula. Second, the motion simulation of the two modular structures is carried out by using Adams dynamics simulation software. The simulation results verified the correctness of the DOF analysis. The folding rate of the mechanism is characterized by the ratio of the space volume occupied by the mechanism when fully unfolding and fully folding. The folding rates of the existing non-modular mechanisms and modular mechanisms based on tetrahedral unit are calculated. Finally, the number of DOF and motion pairs, the folding rate of non-modular mechanisms and modular mechanisms are compared and analyzed. The analysis results show that the modular structure based on the 3RR-3URU tetrahedral symmetrical combination unit can achieve a large folding rate, and the number of degree of freedom and motion pairs are also relatively reduced. In addition, fewer types of links are use when forming large antennas. The research results provide a theoretical basis for the design and analysis of such modular truss deployable antenna structures. © 2020, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Trusses

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Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation robot

Research on Fuzzy PID Control Algorithm for Lower Limb Rehab...

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IEEE Information technology and Mechatronics Engineering Conference (ITOEC)

作者： Hongbo Wang Tingting Lu Baoshan Niu Hao Yan Xincheng Wang Jianyu Chen Yungui Li Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province

ISBN: (纸本)9781538653746

Cerebrovascular disease, hemiplegia and paraplegia may lead to lower extremity motor dysfunction. According to the theory of neural rehabilitation, proper rehabilitation training can help patients recover. In this paper, a lower limb rehabilitation robot is proposed, which can realize passive training and active training. Firstly, the mechanical structure and electrical system are designed. Secondly, in order to solve the problem of inaccurate parameters in the dynamic model of robot joint torque control, a fuzzy adaptive PID controller is established by combining negative feedback with PID regulator to eliminate the system error.

关键词： Training Rehabilitation robotics Legged locomotion PI control PD control robot sensing systems

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Quantitative Evaluation of Clothing Assistance using Whole-Body robotic Simulator of the Elderly

Quantitative Evaluation of Clothing Assistance using Whole-B...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Ravi Prakash Joshi Tomohiro Shibata Kunihiro Ogata Yoshio Matsumoto Graduate School of Life Science and System Engineering Kyushu Institute of Technology 2-4 Hibikino Wakamatsu Kitakyushu Japan Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 Umezono Tsukuba Japan

ISBN: (纸本)9781728126234

The recent demographic trend across developed nations shows a dramatic increase in the aging population, fallen fertility rates and a shortage of caregivers. robotic solutions to clothing assistance can significantly improve the Activity of Daily Living (ADL) for the elderly and disabled. We have developed a clothing assistance robot using dual arms and conducted many successful demonstrations with healthy people. It was, however, impossible to systematically evaluate its performance because human arms are not visible due to occlusion from a shirt and robot during dressing. To address this problem, we propose to use another robot, Whole-Body robotic Simulator of the Elderly that can mimic the posture and movement of the elderly persons during the dressing task. The dressing task is accomplished by utilizing Dynamic Movement Primitives (DMP) wherein the control points of DMP are determined by applying forward kinematics on the robotic simulator. The experimental results show the plausibility of our approach.

关键词： aged person Quantitative Evaluation dimethyl phthalate Clothing robot Dress shirts Developed Countries Activities of Daily Living simulator Fish dressing Dressings garb body position Occlusion

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Analytic modeling of spoke torque sensor based on deformation compatibility

Analytic modeling of spoke torque sensor based on deformatio...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Sun, Yu-Xiang Xu, Yu-Yun Cao, Hui-Bin Shuang, Feng Gao, Li-Fu Ge, Yun-Jian Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province230031 China Department of Automation University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781538680698

Accurate description of the relationship between sensor loading deformation and elastomeric structure is very important to improving design efficiency. In this paper, we focus on the spoke torque sensor, according to the deformation characteristics of the sensor under loading, and analyzes the relationship among stress, strain and disturbance of the torque sensor in combination with the deformation compatibility conditions, and establishes the analytical model of the torsion stiffness of the sensor. Finally, by comparing the finite element simulation results, it is verified that by considering the deformation coordination conditions, the precision of the analytical modeling of the torque sensor can be improved. © 2018 IEEE.

关键词： Analytical models

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