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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 Musong Lin Yonggan Yan Guowei Liu Bowen Su Chaosheng Zhao Fuhao Wang 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 proposes a new hybrid(parallel–serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future.

关键词： DOF Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot simulation

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Design and Experimental Study of DC Servomotor Controller

Design and Experimental Study of DC Servomotor Controller

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Advanced Electronic Materials, Computers and Software Engineering (AEMCSE), International Conference on

作者： Ye Wang Xinyu Hu Yongfei Feng Shuangshuang Li Dalian University of Technology Dalian China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Ningbo University Ningbo China

ISBN: (数字)9781728181431

ISBN: (纸本)9781728181448

According to the requirements of the service-oriented robot's precise posture and high operability, an embedded DC servo motor controller based on STM32F103C8T6 microcontroller (MCU) is designed, and a half-board bridge driving chip is used as the driving unit. The controller has four working modes: current mode, speed mode, position mode, and teaching mode. The hardware circuit of the controller is designed and an experimental platform is built. Based on the experimental platform, the working performance of the DC servo motor in different modes is tested. The experimental results show that the controller has better control effect on the DC servo motor and can well meet the working requirements of the service robot.

关键词： DC servomotor Motor controller Embedded system DC servomotor Embedded systems Controllers Service robots

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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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Development and experimental study of a novel weak coupling parallel three-dimensional force sensor

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ICIC Express Letters, Part B: Applications 2016年第11期7卷 2435-2442页

作者： Zhao, Yanzhi Jiao, Leihao Weng, Dacheng Li, Yang Liu, Xiaoxiao Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University No. 438 Hebei Ave. Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education of China Yanshan University No. 438 Hebei Ave. Qinhuangdao066004 China

In order to effectively reduce the effect of coupling, a novel mechanical decoupling parallel three-dimensional force sensor with the steel ball structure is designed and developed, and the static calibration of the sensor is carried out. The rolling friction is applied instead of sliding friction to the design of the mechanical decoupling parallel three-dimensional force sensor. The mathematic model of the sensor is established, and the force mapping relationship of the applied external force and the force of measuring branches of the sensor is derived based on the screw theory. The prototype of the mechanical decoupling parallel three-dimensional force sensor is developed, and the load calibration and data acquisition experiment system are developed, and the static calibration is performed. The calibration data are analyzed by using the least-squares method and the experimental result shows that the interference error is less than 0.45% and the measurement error of the sensor prototype is less than 0.6%, which indicate that the developed mechanical decoupling parallel three-dimensional force sensor possesses high measurement accuracy, and the result of the study lays the foundation of the application of the mechanical decoupling parallel three-dimensional force sensor. © 2016 ICIC International.

关键词： Least squares approximations

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A Remotely Driven Finger Rehabilitation robot for Passive and Active Rehabilitation 12

A Remotely Driven Finger Rehabilitation Robot for Passive an...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Wang, Hongbo Du, Jiazheng Zhang, Yongshun Tian, Yu Zhang, Dagan Ning, Yuansheng Niu, Jianye Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Academy for Engineering and Technolgy Fudan University Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China Yanshan University Key Laboratory of Advanced Forging and Stamping Technology Science of Ministry of Education Qinhuangdao066004 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this paper, a finger rehabilitation robot with flexion/extension function is developed. This device consists of a four-finger mechanism and a thumb mechanism. The four-finger mechanism is modular designed, and consists of the metacarpophalangeal joint mechanism and the proximal interphalangeal joint mechanism. The thumb mechanism has an active degree of freedom (DoF). The hardware system and software system of the finger rehabilitation robot were built, and preliminary experiments were carried out, including the passive and active movement of the single joint and the multi-finger movement. The results show the range of motion of this robot can meet the requirements of the rehabilitation, and it is able to carry out active rehabilitation training by means of the human-machine contact force, and it has the ability to realize occupational therapy training for grasping objects in different shapes. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Nonlinear forced vibration of electromechanical integrated magnetic gear system

Nonlinear forced vibration of electromechanical integrated m...

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IEEE International Conference on mechatronics and Automation

作者： Xiuhong Hao Xuejun Zhu School of Mechanical Engineering Yanshan University Qinhuangdao China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China

ISBN: (纸本)9781479970995

A novel magnetic gear drive, the electromechanical integrated magnetic gear (EIMG) is proposed, in which field modulated magnetic gear, drive and control are integrated. EIMG can offer the larger torque at a lower speed. Considering the obvious nonlinear characteristics of the electromagnetic coupling forces among components, the nonlinear differential equations with quadratic terms are founded. Forced responses of the nonlinear EIMG system are calculated and discussed when the exciting frequency is closed to the torsional modal combination frequency between the inner rotor and the outer ferromagnetic pole-pieces. The results show that the strong and continuous resonance doesn't occur, but the strong transient vibration will occur and the amplitudes of components will decrease very slowly. These will deteriorate the dynamic behaviors of EIMG system.

关键词： Stators Rotors Gears Magnetic resonance Electromagnetic coupling Air gaps Damping

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Type synthesis and forward displacement analysis of parallel manipulator with two equivalent composite universal joints

Journal of Mechanical Engineering Research and Developments

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Journal of Mechanical Engineering Research and Developments 2014年第2期37卷 58-70页

作者： Lu, Y. Liu, Y. Dong, Y.S. College of Mechanical Engineering Yanshan University Qinhuangdao Hebei China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Lab. of Adv. Forging and Stamping Technol. and Sci. of Min. of Natl. Educ. Qinhuangdao Hebei China

The parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized and a closed forward displacement analysis is performed for a novel 5-DoF parallel manipulator (PM) with 2 equivalent composite universal joints Ue. First, ten novel parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized. Second, the kinematic model of a 5-DoF 4SPS+SPR PM with 2 composite spherical joints Sc are established. Third, the novel 5-DoF PM with 2Ue is created based on 4SPS+SPR PM by replacing each of 2Sc with Ue, and the formulae are derived for solving forward displacement of the proposed 5-DoF PM with 2Ue. Finally, an analytic example is given for solving the forward displacement of proposed 5-DoF PM with 2Ue, and the analytic solved results are verified by the simulation mechanism using CAD variation geometry.

关键词： Kinematics

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Motor controller design of patient transfer apparatus

Motor controller design of patient transfer apparatus

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International Conference on Information and Automation (ICIA)

作者： Hongbo Wang Zhengcao Liu Xuefeng He Jianye Niu Zhi Lan Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Yanshan University Qinhuangdao Hebei CN National Research Center for Rehabilitation Technical Aids Bejing China

ISBN: (纸本)9781509041039

A motor controller based on STM32F103 MCU, which is designed for the patient transfer apparatus is presented. Firstly, according to the working principle of the apparatus, the power of the motor is calculated, and the selection of the motor is carried out. According to the chosen motor, the controller's hardware circuit design is carried out. According to the need of apparatus control, the controller adopts the double loop speed control algorithm which is added with the speed forward feed control. The controller has two operation modes, torque mode and speed mode, and the two modes can be switched flexibly during the work process. The controller uses CAN bus communication, makes the network control more easily. A controller parameters debug software programed with QT makes it easy to setup the controller parameters. The software can greatly shorten the time of parameter adjustment. Finally, the related experiment is carried out, and the result indicates that the controller can complete the control task well.

关键词： DC motors Instruction sets Control systems Feedforward neural networks Motor drives Transfer functions

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Roller straightening process and FEM simulation for stainless steel clad plate

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Open Mechanical Engineering Journal 2014年 8卷 557-561页

作者： He-Ong, Jin Ya-Li, Yi Xue-Yan, Han Yan, Liang Key Laboratory of Advanced Forging & 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

Based on elasto-plastic deformation straightening theory and adopting 11 rolls plate straightening mode, the isothermal residual curvature straightening process is proposed for stainless steel clad plate. The straightening mathematical model is established to realize plate shape finishing and stress reforming. By using finite element analysis software, establishing straightening process and determining intermesh, the effects of intermesh on shape and residual stress are analyzed. The results indicate that the straightening process meet the finishing plainness of stainless steel clad plate after rolling. Longitudinal residual stress of the clad plate is evenly distributed across width. The cladding plate and steel substrate are symmetrical and the ascent of stress near the edge is greater. Longitudinal residual stress across length is distributed with the wave of pull-press-pull and the cladding plate and base plate are symmetrical. The above researches are based on the previous theory of the application of stainless steel clad plate straightening technology. © 2014, He-Rong et al.;Licensee Bentham Open.

关键词： Stainless steel

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Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

Research Square

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Research Square 2021年

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

Considering the limb axial deformation, taking typical 2SS+P and 7-SS passive overconstrained mechanisms, 2SPS+P and 7-SPS active overconstrained mechanisms, and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples, a new force analysis method based on the idea of equivalent stiffness is proposed. The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations. The relationship between the constraint wrench magnitudes and the external force, limb stiffness is established. The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations. Here, the relationship between the magnitudes of the actuated wrenches and the external force, limb stiffness is investigated. Combining with the equivalent stiffness of the passive overconstrained mechanism, an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement, limb stiffness is explored. Finally, adaptability of the equivalent stiffness to overconstrained mechanisms is discussed, and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed. © 2021, CC BY.

关键词： Stiffness

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