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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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Game Scene Construction for Lower Limb Rehabilitation robot Based on Virtual Reality

Game Scene Construction for Lower Limb Rehabilitation Robot ...

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International Conference on Electromechanical Control Technology and Transportation (ICECTT)

作者： Yongfei Feng Di Jin Qianjun Shao Jianye Niu Luige Vladareanu Hongbo Wang Faculty of Mechanical Engineering & Mechanics Ningbo University Ningbo China Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Hebei University of Technology Tianjin China Robotics and Mechatronic Department Institute of Solid Mechanics of the Romanian Academy Bucharest Romania Parallel Robot and Mechatronic System Laboratory of Hebei Province and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (数字)9781728199283

ISBN: (纸本)9781728199290

At present, the number of patients with lower extremity dysfunction is increasing year by year. However, traditional rehabilitation training cannot meet the needs of patients for rehabilitation training. Rehabilitation robot is a good solution to train patients instead of the rehabilitation physician. Based on clinical practice experience, a lower limb rehabilitation training system based on virtual reality (VR) is designed, which combined the VR technology and rehabilitation evaluation program to improve the rehabilitation efficiency of patients. According to the functional requirements of the lower limb rehabilitation robot (LLR-RO), the construction of rehabilitation robot control system and sensor system is completed. Based on the Unity3D development environment, a VR scenes of space shooting is planned and created for rehabilitation training VR technology which enables patients to complete the training process while maintaining a pleasant mood. Through the software and hardware debugging, the feasibility, data transmission capability of VR-based remote rehabilitation training system and the synchronization performance of VR scenes and rehabilitation robots are verified. In the future, more virtual reality scenes will be studied to adapt to patients of different genders and ages.

关键词： Games Training Rehabilitation robotics Space vehicles Legged locomotion Aircraft Aerospace electronics

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The Design of An Intelligent Self-Reconfigurable Single-Module robot

The Design of An Intelligent Self-Reconfigurable Single-Modu...

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Electronic Technology and Information Science (ICETIS), International Conference on

作者： Zezheng Xing Qiuwei Zheng Lang Xiong Yundou Xu Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology Science (Yanshan University) Ministry of Education of China Qinhuangdao China

ISBN: (数字)9798350388343

ISBN: (纸本)9798350388350

Self-reconfigurable robot is a typical modular robot, which is composed of a large number of identical modules based on cell design idea. Perform a job by combining it as a whole while working. At present, the carrying capacity of the self-reconfigurable robot is limited and the degree of intelligence is not high, which leads to the limited working ability of the self-reconfigurable robot. Therefore, an intelligent single-module self-reconfigurable robot is designed in this paper. Firstly, a high stiffness bidirectional butt locking mechanism is designed for the connection between modules. Secondly, aiming at the task of quick survey of fire rescue environment, the identification and distance detection of ignition point and rescue personnel are designed in the fire environment. The BI _ A * algorithm is used to complete the single-module path planning of the self-reconfigurable robot, and the Multi_ Bi _ A * algorithm is proposed for the optimal path planning of the collection of multi-module self-reconfigurable robots. Finally, the functional verification of the prototype is completed by using a single three-room model experiment platform.

关键词： Surveys Target recognition Prototypes Programming Multitasking Stability analysis Path planning

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Effect of Decision Way on the EEG Signal Classification Performance of Motor Imagery

Effect of Decision Way on the EEG Signal Classification Perf...

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Yanzheng Lu Hong Wang Jianye Niu Rongrong Fu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China School of Mechanical Engineering and Automation Northeastern University Shenyang China Measurement Technology and Instrumentation Key Laboratory of Hebei Province School of Electrical Engineering Yanshan University Qinhuangdao China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

Timely and accurate classification of motor imagery (MI) is crucial for its practical application. However, the effect of decision way has not been thoroughly researched in the existing studies. This paper researches the effect of decision way on the classification of MI task electroencephalogram (EEG) signals. The time-frequency analysis of pre-processed EEG signals is carried out to obtain the variation rules of different EEG rhythms in MI tasks. The power changes of MI task EEG signals are analyzed. The time domain and frequency domain features of EEG signals are extracted, and the MI task classification models with different decision ways are built. The accuracy of different decision ways on the classification of EEG signals in MI tasks are compared.

关键词： Time-frequency analysis Accuracy Pattern classification Nearest neighbor methods Brain modeling Motors Feature extraction

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Kinematics and statics analysis of a novel 4-dof parallel manipulator with two SPS legs and a PUP composite leg

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ICIC Express Letters 2014年第12期8卷 3445-3451页

作者： Lu, Yi Zhang, Xiuli Hu, Bo College of Mechanical Engineering No. 438 West Hebei Street Qinhuangdao China Hebei Vocational and Technical College of Building Materials Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province No. 438 West Hebei Street Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University No. 438 West Hebei Street Qinhuangdao China

A novel 4-degree of freedom parallel manipulator with two spherical joint-prismatic joint-spherical joint (SPS) active legs and a prismatic joint-universal joint-prismatic joint (PUP) composite leg is proposed and its kinematics and statics are studied. 1. Its structure constraint is analyzed, and formulae for solving the inverse displacement are derived. 2. The formulae for solving velocity, acceleration and active/constrained forces are established. 3. A workspace is constructed. 4. The analytic results are verified by its simulation mechanism. © 2014.

关键词： Kinematics

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Semantic Segmentation of Surgical Instruments based on Enhanced Multi-scale Receptive Field

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Journal of Physics: Conference Series 2021年第1期2003卷

作者： Dong, Yu Wang, Hongbo Luo, Jingjing Lai, Zhiping Wang, Fuhao Wang, Jiawei Academy for Engineering and Technology Fudan University Shanghai200433 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China

With the rapid development of robot assisted surgery, the segmentation of surgical instruments becomes more and more important. However, compared with the natural scene segmentation, surgical instrument segmentation is more difficult. To solve this problem, we improve a high and low resolution fusion module, which aims to extract detail information and context information from the fusion feature map of high and low resolution. Then, in the last layer of the encoder, we propose the Enhanced Multi-scale Receptive Field module to generate more available receptive fields. Our method is validated on 2017 MICCAI EndoVis robotic Instrument Segmentation Challenge dataset, and the result is better than the other methods. The extended experiment is carried out on the dataset of our surgical soft robot which has a content implementation. © Published under licence by IOP Publishing Ltd.

关键词：

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Type Synthesis of 3-Translational Redundant Actuated parallel Mechanisms With Closed-Loop Branch Chains Based On Graphical Approach

Research Square

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Research Square 2021年

作者： Li, Yong-Quan Jiang, Hong-Sheng Zheng, Tian-Yu Xi, Ke-Long Jing, Han Zhang, Li-Jie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The 3-translational parallel mechanism is widely used in industrial, medical, and military fields, among others. With the development of the national logistics industry, a pressing need for a kind of 3-translational parallel mechanism emerged. Such mechanisms have high stiffness and high bearing capacity and are used for cargo handling and sorting. A novel method based on the graphical approach was proposed for the synthesis of 3-translational redundancy actuated parallel mechanism with closed-loop branch chains. The new mechanism has four symmetrically arranged branch chains, which eases subsequent kinematics and dynamics analyses while providing good mechanical properties. Based on the graphical approach theory, according to the constraint number contained in the branch chain, two types of redundant driven branch chains with closed-loop structures were constructed. The first type includes rotation constraint in one direction, while the second type includes the rotation constraint in two directions. Based on various combinations of two branch chain types, their allocation schemes can be divided into two types. Moreover, said these two allocation schemes can be integrated into at least 500 and 400 types of 3-translational redundant actuated parallel mechanisms with closed-loop branch chains. Then, the degree of freedom properties of representative mechanisms were tested using the screw theory. A large number of novel mechanisms were integrated assessed using this method, and branch chains such mechanisms were symmetrically distributed. They have a strong bearing capacity, simple calculation, and control, and can be applied to the handling and sorting of goods, large-scale precision machine tools, and large construction machinery vibration isolation systems, among others. © 2021, CC BY.

关键词： Redundancy

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A low-cost passenger safety protection system based on laser ranging

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Journal of Physics: Conference Series 2021年第1期2003卷

作者： Wang, Fuhao Wang, Hongbo Zhang, Xueze Dong, Yu Lai, Zhiping Wang, Jiawei Academy for Engineering and Technology Fudan University Shanghai200433 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China

In 2021, the total number of motor vehicles in China has exceeded 370 million. In the process of getting off the car, avoiding accidents between passengers and non-motor vehicles is of great significance for reducing casualties and economic losses. Therefore, this paper designs a low-cost passenger safety protection system based on laser ranging. Following the principle of easy integration and miniaturization, the hardware design and software design of the system have been completed. The mathematical model of arrival time-distance of non-motor vehicle under various speeds is established. Laser-ranging data is used to build the map, and the map can be used for non-motor vehicle identification and speed estimation. The function and precision of the system are tested. The experimental results show that 1) the established model can automatically determine whether passengers can get off the car safely and close the door in dangerous situations;2) the mapping method based on laser ranging can effectively distinguish between non-motorized vehicles and roadsides. The accuracy of non-motor vehicle speed measurement is about 90%. The designed passenger safety protection system has high practicability. © Published under licence by IOP Publishing Ltd.

关键词： laser ranging mapping safety protection Traffic accident

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Redundantly actuated mechanism synthesis of the symmetrical unconstrained branched chain parallel mechanism

Redundantly actuated mechanism synthesis of the symmetrical ...

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International Conference on Modelling, Identification and Control (ICMIC)

作者： Yanmin Liu Shihua Li Zhili Tian Jianhua Zhang College of Mechanical Engineering Hebei Vocationa & Technical College of Building Materials Qinhuangdao Hebei China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao Hebei China School of Electrical Engineering Hebei University of Science and Technology Shijiazhuang Hebei China

A mechanism synthesis method on redundantly actuated branched chain of symmetrical unconstrained branched chain parallel mechanism was put forward in this paper, and the redundantly actuated branched chain and its number of the lower-mobility parallel mechanism with 4 degrees of freedom (DOF) were synthesized. First the brached chain with less rods of one line vector, one couple and mixture of line vectors and couples were selected, based on synthesis method on redundantly actuated branched chain of uncontrained branched chain parallel mechanism, the redundantly actuated parallel mechanism with practical meanings of 4 DOF was synthesized; Under different branched chain constrained screw systems, the corresponding number of redundanly actuated branched chains was given out. And a 4-SPS/RzPzUxy parallel mechanism was synthesized out. The research result showed that the method was simple and effective.

关键词： Fasteners Kinematics Force Conferences Actuators parallel robots mechatronics

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Inverse Kinematics of 2(3-Rps) and 2(3-Spr) Serial-parallel Manipulators

SSRN

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SSRN 2022年

作者： Ye, Nijia Xu, Ziwei Wang, Ren Feng, Miaomiao Hu, Bo School of Mechanical Engineering Yanshan University Hebei Qinhuangdao066004 China School of Information Science and Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Hebei Qinhuangdao066004 China

This paper solves the inverse kinematics of the serial-parallel manipulators(S-PMs) formed by the 3-RPS and the 3-SPR modularized parallel manipulators (PMs), including the 2(3-RPS) and the 2(3-SPR) S-PMs. First, the vectorial expressions of the revolute joints and the length of legs in the base coordinate system of the whole S-PMs are built. Second, based on the geometric constraints in the S-PMs, the constraint equations of the single 3-RPS/3-SPR module are established. Third, by integrating the single constraint equations of the module, the complete constraint equations concerned with the structural dimensions, the length of legs to be determined, the unknown kinematic parameters of the middle platform and the known kinematic parameters of the terminal platform are derived. Then, by using the Sylvester elimination method, the unknown kinematic parameters of the middle platform are obtained, and the inverse displacements are solved. Finally, the established models are verified by two examples. This paper provides a general inverse kinematics solution for the 2(3-RPS) and the 2(3-SPR) S-PMs. © 2022, The Authors. All rights reserved.

关键词： Inverse kinematics

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