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A method of relay UAV deployment for emergency communication scenarios in disaster areas

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A method of relay UAV deployment for emergency communication...

2024 China Automation Congress, CAC 2024

作者： Tao, Cancan Liu, Bowen Han, Yi Chen, Qiangqiang Ye, Jun Zhong, Ronglin School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Faculty of Science Kunming University of Science and Technology Kunming650500 China School of Biological Science and Medical Engineering Beihang University Beijing100191 China School of Information Science and Technology University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9798350368604

This article proposes a relay deployment method that uses UAVs to provide communication services to ground users, especially for emergency communication scenarios in disaster ***, a two-layer network communication model is constructed for emergency communication scenarios in disaster areas, and the relay deployment problem is transformed into a multi-objective optimization problem. On this basis, a detailed analysis of the problem is conducted, and a UAV relay deployment method based on the K-means++ algorithm is proposed. The two indicators of the number of UAVs used and the network communication performance are considered in solving the problem. Simulation results show that the proposed method can achieve a balance between the number of relay UAVs used and the achieved network performance. © 2024 IEEE.

关键词： Multiobjective optimization

Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis

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Design of in-pipe 3SPR/3RPS parallel manipulator and its kin...

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yi Lu Jingjing Yu Chunping Sui Jianda Han College of Mech Eng Yanshan University Qinhuangdao Parallel robot and mechatronic system laboratory of Hebei province Hebei P. R. China Department of Mechatronics Heibei Normal University of Science & Technology Qinhuangdao Hebei P. R. China State Key Laboratory of Robotics Shenyan Institute of Automation Liaoning PR China

An in-pipe robot must be able to adapt to the various geometric changes of pipes and have large enough load carrying capacity in order to move freely in industry pipe and drag heavy load. A novel in-pipe 3SPR/3RPS type parallel manipulator is proposed and its kinematics is analyzed in this paper. First, an in-pipe parallel manipulator with multi-foot is designed, and its principle and characteristics are explained. Second, the kinematics formulae are derived for solving the displacement, velocity and acceleration of foot mechanism and parallel manipulator. Third, the statics formulae are derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator. Finally, an analytic example is given for solving kinematics and statics of the in-pipe parallel manipulator and analytic solutions are verified by simulation solution.

关键词： Foot Force Legged locomotion Kinematics Manipulators

Design of a new solution for the wheeled hopping robot

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Design of a new solution for the wheeled hopping robot

UKACC International Conference on Control (CONTROL)

作者： Jingjing Liu Hongbo Wang Hongnian Yu Lili Zhang Luige Vladareanu Adrian Bruja Gal I. Alexandru Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China College of Electrical Engineering Yanshan University Qinhuangdao China School of Design Engineering and Computing Bournemouth University Poole UK Robotics and Mechatronic Department Institute of Solid Mechanics Bucharest Romania

In recent years many researchers are trying to combine wheeled movement with legged movement or hopping movement to strengthen the robots adaptability to environment. Hybrid robots are playing a more and more important role in our modern life. However, their controls are mostly complicated. So in this paper we present a new solution for the wheeled hopping robot. Based on the mechanical design, this robot has two movement modes: wheeled and hopping movement mode. While the center of gravity of the mechanism is under the wheels center, the wheeled hopping robot which is like a tumbler can keep its stability even when the wheels' velocity is zero. In this paper, we firstly introduce the description and design of the wheeled hopping robot. Then we explain how to choose the robot parameters and lastly we describe, how the robot through hopping, successfully traverses obstacles and ditches.

关键词： Mobile robots Shafts Wheels Springs robot kinematics Force

Configuration design and motion performance analysis of a new wheeled rolling robot

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Research Square 2021年

作者： Bian, Hui Zhang, Chun Wang, Shi-Jie Li, Jia-Chen Xie, Xue-Lei Guan, Wen-Bo Mechanical and Electronic Engineering Yanshan University China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Ministry of Education Qinhuangdao066004 China Beijing Institute of Mechanical Equipment Beijing100080 China

A new wheeled rolling robot is designed based on planar 3-RRR parallel mechanism and spoke wheel with variable diameter, by adjusting the 3-DOF outputs of the planar 3-RRR parallel mechanism, the deformation and rolling motion of the rolling robot are realized, the rotation output of the parallel mechanism realizes the differential change of the diameter of the two supporting wheels of the rolling robot, and the moving output of the parallel mechanism changes the mass distribution of the system, so that the rolling robot can complete the forward, backward, turning and other motions. Based on the introduction of the performance parameters, driving system, variable diameter wheel configuration and motion mechanism of the rolling robot, the eccentric driving torque is analysis and the existing space of the eccentric torque is given, so as to further complete the selection of the driving motor of the robot. This article analysis three typical motions of robots and its performance parameters, such as straight movement, turn movement, climbing exercise, and builds a simple prototype under laboratory conditions to verify the feasibility of the three movements. © 2021, CC BY.

关键词： Wheels

The stability performances improvement through kinematic and dynamic modeling of the hopping robots

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The stability performances improvement through kinematic and...

UKACC International Conference on Control (CONTROL)

作者： Adrian Bruja Luige Vladareanu Gal Ionel Alexandru Hongbo Wang Hongnian Yu Jingjing Liu Institute of Solid Mechanics of Romanian Academy (IMSAR) Bucharest Romania School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind speed which can prevent our robot to reach the desired destination, and compensated with an initial velocity on the direction of movement. For testing we designed a simulation which had as inputs different initial conditions to test and present the jumping capability of our robot in different jumping conditions. In the end we provide a jump area which the robot can reach for certain initial conditions, so we can later chose the optimal one for reaching the target position.

关键词： Mobile robots Springs Wheels Trajectory Collision avoidance Shafts

Principle and Performance Analysis of Soft Continuum robot with Large Range Variable Stiffness Based on Spherical Particles

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Principle and Performance Analysis of Soft Continuum Robot w...

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yanzhi Zhao Yu Shan Kaida Guo Longguang Han Lizhe Qi Hongnian Yu Laboratory of Mechanical and Electronic Engineering Institute of Mechanics Yanshan University 438 West Section of Hebei Street Haigang District Qinhuangdao City Hebei Province CHN Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao Hebei Provincial China Academy for Engineering and Technology Fudan University Shanghai China Fuaculty of Science and Technology Bournemouth University Poole United Kingdom

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In the field of robots, soft continuum robots have strong adaptability, and rigid continuum robots have large carrying capacity, but they all have some limitations. The purpose of this paper is to solve the problems of small carrying capacity of soft continuum robots and low safety of rigid continuum robots. Based on the combined action of particle jamming and fiber jamming, we use the good fluidity of spherical particles and the rigidity of spherical particles to realize the flexibility and rigidity of the robot, and put forward the requirement of flexible contact and rigid bearing. According to the large range variable stiffness actual demand, a self-locking soft continuum robot with large range variable stiffness based on the jamming phenomenon is proposed, and the principle of large range variable stiffness is explained. Then the model experiment prototype is designed and manufactured. Based on the model, the combination elastomer is defined. The basic unit is constructed and the theoretical analysis is carried out, and the equivalent of the combination elastomer stiffness model is obtained. Finally, an experimental test system is built. Through the experiment and simulation of variable stiffness, the stiffness change of combination elastomer is obtained, and the specific situation of bearing capacity change is recorded. This study provides a new method to achieve a wide range of stiffness changes, and builds a bridge from soft continuum robots to rigid continuum robots.

关键词： Textiles Jamming Strain Elasticity Soft robotics Force

Structure Parameters and Displacement Equations of Goldberg Mechanisms With the Rank More Than sixStructure Parameters and Displacement Equations of Goldberg Mechanisms With the Rank More Than Six

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Research Square 2020年

作者： Zhang, Yitong Lu, Ling Liu, Wenlan Li, Yanwen Hu, Bo Mu, Dejun Lu, Wenjuan 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 Heavy-duty Intelligent Manufacturing Equipment Innovation Center of Hebei Province Yanshan University Qinhuangdao066004 China College of Energy and Power Engineering Lanzhou University of Technology Lanzhou730050 China

An infinite number of N-bar Goldberg mechanisms with the rank more than six are proposed. A single closed-loop eight-bar mechanism is first developed by removing the common side links of adjacent loops from the five-loop Bennett mechanism in which all loop frames are collinear. An analysis of trajectory circles of the links shows that the mechanism developed maintains the original constraint conditions and kinematic characteristics, and that its degree of freedom (DOF) is also one. This novel single-loop mechanism is named the eight-bar Goldberg mechanism because of its similar constraint characteristics with the five-bar and six-bar Goldberg mechanisms. The eight displacement parameters of this mechanism are analyzed by using the interior angles of adjacent links, and the five cosine equations for the tangent product of the stagger angles between adjacent links are established in together with one angular displacement equation of odd links and one angular displacement equation of even links. This novel mechanism has one DOF, eight displacement parameters and seven independent displacement equations. The loop rank of the eight-bar Goldberg mechanism is seven, which revises the existing mechanism theory of single closed-loop mechanisms with the rank no more than six. Similarly, a nine-bar Goldberg mechanism is constructed, and its nine displacement parameters are analyzed. This mechanism has eight independent displacement equations and the loop rank is eight, proving that the mechanisms with the rank more than six are not rare. Then, according to the characteristics of the independent displacement equations of the eight-bar and nine-bar Goldberg mechanisms, the N (N>7) displacement parameters of N-bar Goldberg mechanisms are analyzed, and the (N–1) independent displacement equations are deduced with odd and even Ns. It is proved that the loop rank of N-bar Goldberg mechanisms is (N–1), so there exist an infinite number of mechanisms with the rank more than six. © 202

关键词： Degrees of freedom (mechanics)

Higher-Order Kinematics Modeling of 3-RRS parallel Mechanism Based on CGA

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Research Square 2020年

作者： Wang, Chang Zhao, Tie-Shi Li, Er-Wei Zhao, Yan-Zhi Bian, Hui Geng, Ming-Chao Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Hebei University of Architecture Zhangjiakou075000 China

Higher-order kinematics of mechanisms has been applied in servo motor control, human-robot interaction and machinery life design fields, etc. The representations of acceleration and jerk by screws have been fully developed by researchers with the methods of the differential of the matrix representation of SE(3) group. Clifford algebra, which is tighter and with higher computational efficiency than the matrix method, is another representation of the motions of rigid bodies. It has been used in position kinematics, grub task motion planning, and robot vision for its convenience of geometric representations and calculations. As far as we know, the work of higher-order kinematics of mechanisms based on Clifford algebra is rare. First, after recalling the based theory of motion representation in conformal geometric algebra (CGA), the mathematical relationships between flag and motor are built. Second, a method for the higher-order kinematics modeling of serial chain mechanisms is proposed. Finally, the higher-order kinematics of the 3-RRS parallel mechanism is built to prove the correctness of the algorithm. This work further enriches the application of CGA for the higher-order kinematics modeling of parallel mechanisms. © 2020, CC BY.

关键词： Kinematics

Kinematic, Workspace and Force Analysis of a five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

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Research Square 2021年

作者： Xu, Yundou Yang, Fan Mei, Youen Zhang, Dongsheng Zhou, Yulin Zhao, Yongsheng Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology Science of Ministry of National Education Yanshan University Qinhuangdao006004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Tencent Robotics X Tencent Holdings Shenzhen518057 China

In the present study, the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective. In this paper, kinematics of the hybrid manipulator, including the forward and inverse position, are analyzed. Then, the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements, and the actual workspace of the hybrid robot is analyzed. After that, the force analysis of the over-constrained parallel mechanism is carried out, and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation. Based on the obtained results from the force analysis, the manipulator structure is design. Then, the structure optimization is carried out to improve the robot stiffness. Finally, calibration and workspace verification experiments are performed on the prototype, cutting experiment of an S-shaped aluminum alloy workpiece is completed, and the experiment verifies the processing ability of the prototype and proves that the prototype has good application prospects. © 2021, CC BY.

关键词： Kinematics