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Lecture Notes in Mechanical Engineering 2017年 13-28页

作者： Hu, Bo Song, Chunxiao Li, Bo Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei066004 China

This paper studied the stiffness model and characteristics of a planar 3-RPS PM with 3-DOF. The 6 × 6 form stiffness matrix of the planar 3-RPS PM is derived with both active and constrained wrenches considered. To characteristic the stiffness of the planer 3-RPS PM, two decomposition methods including the eigenscrew decomposition and the principle axes decomposition are applied to the stiffness matrix. The stiffness matrix decomposition provides a physical interpretation and allows the identification of the compliant axes of the planar 3-RPS PM. © Springer International Publishing Switzerland 2017.

关键词： Stiffness

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Development of Standing Assistive Walker for Domestic Use

Development of Standing Assistive Walker for Domestic Use

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International Conference on Industrial technology

作者： Shohei Kawazoe Daisuke Chugo Hiroshi Hashimoto Sho Yokota Takahiro Katayama Yasuhide Mizuta Atsushi Koujina School of Science and Technology Kwansei Gakuin University Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology School of Science and Engineering Toyo University Service Robot Division RT.WORKS CO. LTD.

ISBN: (纸本)9781509053216

This paper proposes a robotic walker with a standing or sitting assistance function. Although many assistance devices in previous works are specialized in only standing assistance or walking assistance, users need standing, walking and sitting assistance continuously from the same device. Our system focuses on domestic use for people who need nursing in their daily life such as elderly people. To realize an assistive robotic system for "a real world usage," we design it considering safety, practicality and low cost. Our developed assistive system consists of a powered walker and a standing assistance manipulator. Its size is small enough for using in a narrow room such as a bathroom. Furthermore, when proposed robotic walker assists a standing motion, it uses not only an actuator for lifting up direction but also actuators of a powered walker for stabilizing its user. This means our proposed walker realizes both standing and walking assistance with minimum actuators and its cost is practically low. The performance of our proposed system is verified by experiments using our prototype with elderly or handicapped subjects.

关键词： standing assistance walker family usage

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Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

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Chinese Journal of Mechanical Engineering 2016年第6期29卷 1176-1185页

作者： ZHANG Lijie GUO Fei LI Yongquan LU Wenjuan Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

关键词： screw bond graph multi-energy domains 3-UPS/S parallel mechanism electro-hydraulic servo system

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Pattern Based Standing Assistance Adapted to Individual Subjects on a robotic Walker

Pattern Based Standing Assistance Adapted to Individual Subj...

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IEEE International Symposium on robot and Human Interactive Communication

作者： Daisuke Chugo Shohei Kawazoe Sho Yokota Hiroshi Hashimoto Takahiro Katayama Yasuhide Mizuta Atsushi Koujina School of Science and Technology Kwansei Gakuin University 2-1 Gakuen Sanda Hyogo Japan School of Science and Engineering Toyo University Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Service Robot Division RT. WORKS CO. LTD Osaka Japan

ISBN: (纸本)9781538635193

This study proposes a pattern based standing assistance on a robotic walker with a standing and sitting assistance function. In our previous works, we have developed a standing assistance system. Our assistive system consists of a powered walker and a standing assistance manipulator, and is small enough to be used in a typical narrow room such as a bathroom. Our system focuses on domestic use for elderly people who need nursing in their day-to-day lives. Usually, the body conditions of elderly users are different individually and required standing assistance schemes are also different. However, it is difficult to design the suitable standing assistance scheme according to the symptom of elderly users individually at real time because of its cost. Therefore, the proposed walker has several standing assistance patterns which are designed for the user of the different symptom and selects the suitable one for its user. Our idea is practicality for implementation with low cost. The performance of our proposed system was verified through experiments using our prototype with elderly and handicapped subjects.

关键词： Individual Subjects robotic Walker symptom

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Effect of Rolling Reduction Rate on the Microstructure of Hot Rolling Stainless Steel Clad Plate

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IOP Conference Series: Materials Science and Engineering 2018年第3期394卷

作者： Herong Jin Lei Zhang Yali Yi Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao 066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China

The macro-scale and meso-scale simulation models of stainless steel clad plate were established by DEFORM-3D. The multi-scale coupling simulations of clad plate with different rolling parameters were carried out. The seven pass hot rolling process of stainless steel clad plate was simulated by numerical simulation. By contrasting the vertical stress and the deformation resistance of cladding layer, the rolling reduction rate satisfying interface bonding was obtained. The grain distribution at the center of the substrate layer was analyzed and reasonable hot rolling reduction rates were selected considering their effects on the recrystallization volume percent and the grain size. The results show that the grain size decreases with the increase of reduction rate. However, too much reduction rate will decrease the rate of recrystallization volume percent and the refining effect of grain is not obvious. To ensure uniform grain size distribution, it is most reasonable to set the rolling temperature to 1150°C and the reduction rate to 50%.

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A formal specification of the RT-Middleware data transfer protocol

A formal specification of the RT-Middleware data transfer pr...

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IEEE International Conference on Simulation, Modeling, and Programming for Autonomous robots (SIMPAR)

作者： Geoffrey Biggs Noriaki Ando Robot Innovation Research Centre National Institute of Advanced Industrial Science and Technology Japan

ISBN: (纸本)9781509046171

The RT-Middleware framework, which is used on both robotic and non-robotic systems in Japan, uses “DataPorts” to provide one-way, flow-based data communication. These ports are built upon a custom protocol which is in turn built on top of a Remote Procedure Call mechanism and a set of data buffers. The protocol is used to transfer data according to a set of communication policies specified by a system integrator. It forms the major foundation of systems built in the framework. Therefore, in order to have confidence in systems built using RT-Middleware we require confidence that this protocol is correct and will transfer the data to destinations as expected. This paper describes a formal specification of the RT-Middleware DataPort protocol, and verification of the correctness of this specification. The specification is written using the TLA+ formal specification language, and verification is performed using model checking. We describe the specification itself and present an example of the model-checking. We demonstrate that the protocol behaves as described in its informal specification, absent external errors. The presence of a formal specification increases confidence in the correctness of the software, and also provides an unambiguous description of expected behaviour when creating additional implementations.

关键词： Protocols Ports (Computers) Connectors Software Service robots Model checking

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Force control of a jumping musculoskeletal robot with pneumatic artificial muscles

Force control of a jumping musculoskeletal robot with pneuma...

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IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Takeshi Kaneko Masashi Sekiya Kunihiro Ogata Sho Sakaino Toshiaki Tsuji Department of Electrical and Electronic Systems Faculty of Engineering Saitama University Japan Robot Innovation Research Center National institute of Advanced Industrial Science and Technology (AIST) Japan

ISBN: (纸本)9781509037636

This paper introduces a method of force control for a jumping biped robot to correctly control the ground reaction force during continuous jumping. Assuming dynamic motion, such as jumping and running, the attitude of the robot depends on the dynamics in response to the ground reaction force. Therefore, controlling the ground reaction force is necessary for stabilizing the robot's motion. However, control of the ground reaction force involves a fundamental problem: feedback control does not work properly against the impact force owing to limitations in the control bandwidth. This study introduces a method for stiffness ellipse control that utilizes three antagonist pairs of six pneumatic artificial muscles. When the tip of the robot makes contact with the ground, an external force is induced in the direction of lower stiffness. By utilizing this property of the stiffness ellipse, it is possible to control the ground reaction force by feedforward control, which is not dependent on the control bandwidth. Based on this idea, impact force control at landing and jumping force control at takeoff were proposed to correctly control the ground reaction force during the continuous jumping of the robot. The results of several experiments conducted convince us that the relationship between the ground reaction force and the stiffness ellipse is almost linear, and that the ground reaction force can be controlled with high reproducibility by adjusting the stiffness ellipse.

关键词： Force Muscles Force control Pneumatic systems Legged locomotion Bandwidth

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Operation and Force Analysis of the Guide Wire in a Minimally Invasive Vascular Interventional Surgery robot System

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 249-257页

作者： YANG Xue WANG Hongbo SUN Li YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University School of Mechanical Engineering University of Jinan Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Faculty of Science and Technology Bournemouth University

To develop a robot system for minimally invasive surgery is significant,however the existing minimally invasive surgery robots are not applicable in practical operations,due to their limited functioning and weaker perception.A novel wire feeder is proposed for minimally invasive vascular interventional *** is used for assisting surgeons in delivering a guide wire,balloon and stenting into a specific lesion *** contrasting those existing wire feeders,the motion methods for delivering and rotating the guide wire in blood vessel are described,and their mechanical realization is presented.A new resistant force detecting method is given in *** change of the resistance force can help the operator feel the block or embolism existing in front of the guide *** driving torque for rotating the guide wire is developed at different *** the CT reconstruction image and extracted vessel paths,the path equation of the blood vessel is *** the shapes of the guide wire outside the blood vessel,the whole bending equation of the guide wire is *** is a risk criterion in the delivering *** process can make operations safer and man-machine interaction more reliable.A novel surgery robot for feeding guide wire is designed,and a risk criterion for the system is given.

关键词： minimally invasive wire feeder force analysis moment of inertia risk criterion

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Deployable unit 3R-3URU and its application in deployable truss antenna

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2017年第11期38卷 421285页

作者： Liu, Wenlan Xu, Yundou Yao, Jiantao Chen, Liangliang Wang, Hui 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 Xi'an710100 China

A spatial deployable unit 3R-3URU with one Degree of Freedom (DoF) is proposed. The DoF of the single closed-loop mechanism RURUR is analyzed, based on the screw theory and the modified G-K formula. The analytical expression for the velocities of active joints and passive joints of the mechanism RURUR are then established. According to the velocity expression and the structural characteristic that three RURUR mechanisms share their first and last revolute joints, the DoF of the 3R-3URU mechanism is derived. The geometrical relationship among the positions and directions of all joints is also obtained when the 3R-3URU mechanism has one DoF. Novel deployable mechanisms are obtained by applying the 3R-3URU mechanism to the 3RR-3RRR tetrahedral unit and a deployable truss antenna composed of the tetrahedral units, and the novel mechanisms have two types of DoFs: movement and orientation adjustment. DoF analysis and application of the 3R-3URU deployable unit are verified by the Adams software. The proposed deployable unit 3R-3URU has the advantages of one DoF, simple structure, and single type of joints, and can be applied to the supporting mechanism of deployable truss antennas with a curved surface to achieve a large folding ratio. © 2017, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Degrees of freedom (mechanics)

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Effects of heat treatment on microstructure and properties of stainless clad plate

Effects of heat treatment on microstructure and properties o...

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International Conference on advanced Materials and Engineering Materials, ICAMEM 2016

作者： Jin, Herong Yang, Xukun Cui, Youwei Yi, Yali Key Lab. of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9783038357018

The effect of heat treatment on microstructure and properties of Q345R/304 clad plate was studied. The microstructure of the base layer was analyzed by metallographic microscope and scanning electron microscope, and mechanical properties such as tensile, shear and impact were investigated after heat treatment. The chromium content in the compound interface was analyzed after heat treatment through spectrum analysis technology. The results show that heat treatment affects the mechanical properties and corrosion resistance of stainless clad plate significantly. After air cooling, the microstructure of the base layer consi+sts of ferrite and pearlite, the strength of clad plate is low, and the corrosion resistance is poor. After oil cooling to 450°C and air cooling, the microstructure of the base layer consists of bainite, ferrite and a small amount of pearlite. The strength and plasticity of clad plate can meet the application requirements and the corrosion resistance is excellent as well. © 2016 Trans Tech Publications, Switzerland.

关键词： Microstructure

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