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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Ma, Xuejian Xu, Yundou Wang, Yu Yang, Fan Zhao, Yongsheng Yao, Jiantao Zhou, Yulin Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9789811993978

This work proposes a hybrid machining robot RPR/RP + RR + P based on a planar parallel mechanism. Based on the screw theory, the characteristics of the degree of freedom of the hybrid robot are analyzed, and then the inverse and forward kinematics are solved by geometric methods. And size optimization is carried out by taking the workspace and driving forces as the objects. Then the working space of the hybrid robot is calculated by the Monte Carlo method. Finally, the three-dimensional model of the mechanism is established, and through ADAMS simulation, the accuracy of the inverse kinematics solution was verified. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Inverse kinematics

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Design and Analysis of a Novel Ring Truss Deployable Antenna Mechanism 16th

Design and Analysis of a Novel Ring Truss Deployable Antenna...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Han, Bo Yuan, Zhantu Zhou, Yuanzhi Liu, Feng Yao, Jiantao Zhao, Yongsheng Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao066004 China

ISBN: (纸本)9789819965038

With the development of astronautics, satellite antenna as an important communication equipment has also gradually developed to large scale. In this paper, a novel ring truss deployable antenna mechanism is proposed. The mechanism has three layers of installation points with height differences between them, which can be used to ensure that all the installation points will be distributed on the profile of the cable network, and this characteristic ensures the mechanism can be utilized to the maximum. Then the degrees of freedom (DOF) and kinematics of the ring truss deployable mechanism are analyzed using screw theory, where the analysis shows that the DOF of the overall ring truss deployable mechanism is equal to one. Following that, the dynamics model about the mechanism unit is established using the second type of Lagrange equations. Based on this dynamic model, the effect of torsion spring stiffness on the deployment process is discussed and the conclusion is verified by simulation. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Trusses

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

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 232-243页

作者： Yundou Xu Fan Yang Youen Mei Dongsheng Zhang Yulin Zhou Yongsheng Zhao Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 006004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Tencent Robotics X Tencent HoldingsShenzhen 518057China

In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research *** this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ***,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 *** 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 *** on the obtained results from the force analysis,the manipulator structure is ***,the structure optimization is carried out to improve the robot ***,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 machining ability of the *** work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.

关键词： Hybrid manipulator Over-constrained Kinematic analysis Stiffness analysis

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Research on the Process-based Generation Method of Scenarios Database for Maritime Autonomous Surface Ship Test 7

Research on the Process-based Generation Method of Scenarios...

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2022 7th International Conference on Electronic Technology and Information Science, ICETIS 2022

作者： Wang, Xinyu Wang, Yihang Ma, Jilin Bian, Hui Zhao, Xuan Lan, Yaoyao Qinhuangdao Branch China Classification Society Hebei Qinhuangdao China School of Mechanical Engineering Yanshan University Hebei Qinhuangdao China Science and Technology Innovation and Test Center China Classification Society Beijing China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Hebei Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Hebei Qinhuangdao China

ISBN: (纸本)9783800757794

In recent years, Maritime Autonomous Surface Ship (MASS) has been developed rapidly and has demonstrated many new capabilities, which poses a challenge to the testing methods of autonomous ships. Currently, traditional test methods is no longer sufficient to support comprehensive testing and verification. For virtual testing, there is still a lack of a reliable virtual test scenario generation process. Therefore, this paper proposes a method for generating virtual test scenarios for autonomous ships. It is based on the scenario generation frame of the intelligent car and comprehensively considers the feature of the operating environment of the MASS. This process develops an element database by deconstructing the real scenes. For generating, it reconstructs and assigns the elements according to the test task (functional scenario) and the logical relationship between the elements (logical scenario) to reconstruct the new scenario. The new scenarios obtained in this way are optimized and supplemented to be the test scenarios database. In addition, a prototype following this frame was designed and loaded with the "automatic pathfinding task of the Wuhan section of the Yangtze River under good navigation conditions" for testing. The experiment generated 48 different scenarios, proving that this generator can output a comprehensive test scenario database to meet test requirements. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Database systems

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Optimization of Bearing Capacity Parameters of Fully Decoupled Two-Rotation parallel Mechanism for Vehicle Durability Testing 23rd

Optimization of Bearing Capacity Parameters of Fully Decoupl...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Wang, Sen Han, Xueyan Su, Xingzhen Li, Haoran Shan, Yanxia Li, Shihua School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China CITIC Dicastal Co. Ltd. Qinhuangdao066004 China

ISBN: (纸本)9789811993978

The problem of low reproduction accuracy of road spectrum of wheel-coupled vehicle durability test bench needs to be solved. From the perspective of mechanism innovation, a fully decoupled two-rotation parallel mechanism with large load-bearing capacity for vehicle durability testing is proposed in this paper. This kind of parallel mechanism can solve the problem of low-bearing capacity of fully decoupled parallel mechanisms. Based on the requirement of reproduction accuracy of real road spectrum, the degree of freedom required by the mechanism is analyzed. Due to the requirements of fully decoupled and large load-bearing, the configuration design of the parallel mechanism is carried out. In order to further improve the bearing capacity of the mechanism, based on the kinematic analysis results of the mechanism, the size parameters of the mechanism are optimized by using the graph method. The research results show that the bearing capacity of the mechanism is increased by 50% after adding the closed-loop unit and optimizing the size. The finite element simulation verifies that the load-bearing capacity of the optimized fully decoupled two-rotation parallel mechanism satisfies the design index requirements. This research lays a theoretical foundation for the application of fully decoupled parallel mechanisms with large bearing capacity. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Bearing capacity

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Design and analysis of a deployable parabolic structure based on six-crease thick-panel origami

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International Journal of Mechanical Sciences 2025年 297-298卷

作者： Chen, Ziming Liu, Xingyu Yang, Xiao Si, Rongqi Zhao, Chen Li, Yanwen School of Mechanical Engineering Yanshan University Hebei Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Hebei Qinhuangdao066004 China

A deployed six-crease thick-panel origami model can be approximated as a three-dimensional shape, and therefore has great potential for use in the design of curved-surface deployable structures. In this study, a thick-panel six-crease origami was designed and analysed, which revealed a single degree of freedom during deployment. An analytical relationship between the thick-panel origami and the deployable parabolic structure was established;part of the material on the thick-panel was removed to obtain the parabolic deployable structure. The interference of thick-panel origami and parabolic deployable structure during deployment was analysed, and a strategy to eliminate interference was provided. Finally, the relationship between the design parameters and the deployed/folded ratio of the structure was analysed, and the prototype was manufactured. This study provides a novel reference for the design of deployable rotational parabolic structures. © 2025

关键词： Bricard linkage Deployable mechanism Deployable structure Rotational Paraboloid Six-crease origami Thick-panel origami

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Optimum Seeking of Redundant Actuators for M-RCM 3-UPU parallel Mechanism

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Chinese Journal of Mechanical Engineering 2021年第6期34卷 373-384页

作者： Chen Zhao Jingke Song Xuechan Chen Ziming Chen Huafeng Ding School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China School of Mechanical Engineering and Electronic Information China University of Geosciences(Wuhan)Wuhan430074China

The singularity problem brings troubles to the design and application for the parallel ***,redun-dant actuation is one of the useful methods to solve this singularity ***,faced to the numerous joints in a parallel mechanism,how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open *** paper focuses on a 2R1T 3-UPU(U for universal joint and P for prismatic joint)parallel mechanism(PM)with two rotational and one translational(2R1T)degrees of freedom(DOFs)and the ability of multiple remote centers of motion(M-RCM).The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singular-ity,constraint singularity,mixed singularity and limb *** solve these singular problems,the quantifiable redundancy transmission index(RTI)and the redundancy constraint index(RCI)are proposed for optimum seeking of redundant actuators for this *** the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the *** research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.

关键词： parallel mechanism 2R1T RCM Singularity Redundant actuation

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Mechanism Design and Walking Stability Study of (2UPS-U) +R Series-parallel Hybrid Bionic Wheel-Legged Quadruped robot*

Mechanism Design and Walking Stability Study of (2UPS-U) +R ...

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IEEE International Conference on robotics and Biomimetics

作者： Shanshan Li Hongbo Wang Dong Li Minghao Li Lianqing Li Yu Tian Jianye Niu Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Academy for Engineering & Technology Fudan University Shanghai China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China Yanshan University Qinhuangdao China

In this paper, a bionic-based design of a series-parallel hybrid wheel-legged quadruped robot that can realize wheel-foot transformations is presented to achieve footed stable walking, and a method of measuring the static stability of the robot by the evaluation of the torque of the supporting leg rotor axis is proposed with the consideration of the robot's leg mass. Firstly, the whole robot position is solved; Secondly, the force on the robot during static walking is analyzed, and the stability of its static walking is also analyzed from the moment perspective; Finally, the stabilizing support region for static walking is solved, and the stabilizing support region for the robot in such a motion state is calculated. This paper provides high reference significance and value for the mechanism design and walking stability research of series-parallel hybrid wheel-legged quadruped robots.

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Design and experimental study of the remote control for a novel patient transfer apparatus 5

Design and experimental study of the remote control for a no...

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2020 5th International Seminar on Computer Technology, Mechanical and Electrical Engineering, ISCME 2020

作者： Tian, Yu Wang, Hongbo Zhang, Yongshun Tian, Junjie Du, Jiazheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao Hebei China

This paper introduces the design of the remote control for a novel patient transfer apparatus. First, the overall design of the control system is put forward based on the working principle, and design requirements of the apparatus. Second, voltage regulator circuit of the remote control based on the MC34063 is designed to fit for the OLED displayer, parameters such as the filter capacitor have been determined. Next, wireless communication unit adopted CC1110 and the communication instruction code is introduced. Then, the interaction interface of the remote control is finished to facilitate the implementation of the adjustment functions. finally, a simulation and a real experiment has been completed, it indicates the correctness of the voltage regulator circuit and the effectiveness of the remote control respectively. © Published under licence by IOP Publishing Ltd.

关键词： Remote control

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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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