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Configuration Synthesis and Lightweight Networking of Deployable Mechanism Based on a Novel Pyramid Module

Chinese Journal of Mechanical Engineering 2023年第4期36卷 294-310页

作者： Jinwei Guo Jianliang He Guoxing Zhang Yongsheng Zhao Yundou Xu School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang 212100China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Deployable mechanism with preferable deployable performance,strong expansibility,and lightweight has attracted much attention because of their potential in aerospace.A basic deployable pyramid unit with good deployability and expandability is proposed to construct a sizeable deployable ***,the basic unit folding principle and expansion method is *** configuration synthesis method of adding constraint chains of spatial closed-loop mechanism is used to synthesize the basic ***,the degree of freedom of the basic unit is analyzed using the screw theory and the link dismantling ***,the three-dimensional models of the pyramid unit,expansion unit,and array unit are established,and the folding motion simulation analysis is carried *** on the number of components,weight reduction rate,and deployable rate,the performance characteristics of the three types of mechanisms are described in ***,prototypes of the pyramid unit,combination unit,and expansion unit are developed to verify further the correctness of the configuration synthesis based on the *** proposed deployable mechanism provides aference for the design and application of antennas with a large aperture,high deployable rate,and *** has a good application prospect in the aerospace field.

关键词： Pyramid unit Deployable mechanism Configuration synthesis Structural design Lightweight networking

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Auto-establishing simulation parallel manipulators with linear legs and auto-solving their workspaces by utilizing CAD variation geometry

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International Journal of Computers and Applications 2017年第4期39卷 220-233页

作者： Lu, Yi Bi, Cuicui Ye, Nijia Bo, Hu College of Mechanical Engineering Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei China Hebei Hanguang Industry CO. LTD Hebei China

A new approach of CAD variation geometry is proposed for automatically establishing the simulation mechanisms of parallel manipulators (PMs) with linear legs, and automatically solving their forward displacements, workspaces, and Euler angles. First, the basic concepts and techniques of the CAD variation geometry are described. Second, a program is developed by utilizing new approach. In the developed software, an interface is constructed for inputting given parameters and outputting solved results of data and graphs, several sub-programs are compiled for automatically establishing various simulation mechanisms, solving the forward displacements, and solving/ displaying reachable workspaces and Euler angles of various PMs. Third, the three novel and five existing different PMs are illustrated. When the given parameters of the PMs into the interface are inputted, their simulation mechanisms are established automatically. The displacements, the reachable workspaces, and the Euler angles are solved automatically. Finally, the solved results of the developed software are verified by that of the analytic solutions of several existing PMs and the simulation solutions of several novel PMs. © 2017 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Geometry

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Design and analysis of a truss deployable antenna mechanism based on a 3UU-3URU unit

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Chinese Journal of Aeronautics 2019年第12期32卷 2743-2754页

作者： Yundou XU Jinwei GUO Luyao GUO Wenlan LIU Jiantao YAO Yongsheng ZHAO Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China College of Energy and Power Engineering Lanzhou University of TechnologyLanzhou 730050China

Space deployable structures with large calibers, high accuracy, and large folding ratios are indispensable equipment in the aerospace field. Given that the single-DOF 3 RR-3 RRR deployable unit cannot be fully folded, this study proposes a 3 UU-3 URU deployable unit with two kinds of DOF: folding movement and orientation adjustment. First, based on the G-K formula, the DOF of the 3 UU-3 URU unit is analyzed. Then, the 3 UU-3 URU unit is used to construct a deployable truss antenna with a curved surface, and the DOF of the whole deployable antenna containing multiple 3 UU-3 URU units is calculated. The structural design of a deployable antenna with two loops is carried out with specific parameters and geometric relations. Next, a DOF simulation of a basic combination unit composed of three 3 UU-3 URU units is performed. Finally, a prototype of the basic combination unit is manufactured, and the DOF of the mechanism is experimentally verified.

关键词： Basic combination unit Degree of freedom(DOF) Deployable truss antenna Simulation analysis Structural design

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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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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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Analysis and prediction of multi-joint coupling torque of fingers

Analysis and prediction of multi-joint coupling torque of fi...

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2019 Intelligent Rehabilitation and Human-Machine Engineering Conference, IRHE 2019

作者： Yu, Jinxu Zheng, Lin Bai, Xiaolin Du, Yihao Zhang, Lijie Xie, Ping Hebei Province Key Laboratory of Parallel Robot and Mechatronic System Institute of Mechanical Engineering Yanshan University Qinhuangdao China Hebei Province Key Laboratory of Intelligent Rehabilitation and Neuromodulation Institute of Electric Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9781839534997

In this paper, a method of analysis and modelling of multi-joint coupling torque of finger is proposed, which can be used to predict the multi-joint coupling torque of fmger m real time Firstly, through the analysis of muscle contraction dynamics and muscle activation dynamics, the single joint neuromusculoskeletal model of finger was established, and the joint torques of metacarpophalangeal (MCP) joint, proximal mterphalangeal (PIP) joint and distal phalangeal (DP) joint were solved. Then, the finger D-H model was established, and the joint torques of MCP joint and PIP joint were equivalent to the point of DP joint by the principle of virtual work. The multi-joint neuromusculoskeletal model of the finger is established, and the coupling torque of the whole finger during flexion and extension is obtained. Finally, 17 parameters in the finger multi-joint neuromusculoskeletal model were identified, and data acquisition experiments were set up The model prediction torque and software simulation torque were compared, and the root mean square error (RMSE) of the coupling torque is 0.3275, which indicates that the model has a good effect in predicting the finger joint torque and the multi-joint coupling torque. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Data acquisition

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Analysis and simulation of parallel lifting mechanism for schnable car based on complex vector 2

Analysis and simulation of parallel lifting mechanism for sc...

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2nd International Conference on Applied mechatronics and Android robotics, ICAMAR 2014

作者： Zhao, Yan-Zhi Wang, Xiang-Nan Bai, Xue-Gang Ren, Yu-Bo Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University China Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9783038353119

The working conditional model of schnable car has been established and the principle of lifting mechanism has been analyzed. By complex vector method, we analyze the kinematics of the lifting mechanism and get the position, speed and acceleration curves of relevant objects under the lifting progress. We have a static analysis on lifting mechanism, and get the relationship curve of the cylinder’s force and generator’s mass by mathematical Calculation. Kinematics simulation test is proceeded by ADAMS. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated parallel Mechanisms with Closed Loop Units

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Chinese Journal of Mechanical Engineering 2020年第6期33卷 134-157页

作者： Yongquan Li Yang Zhang Lijie Zhang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen518052China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan UniversityQinhuangdao066004China

The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms,or using screw theory to perform multiple getting intersection and union to complete type *** number of redundant parallel mechanisms obtained by these two methods is *** this paper,based on Grassmann line geometry and Atlas method,a novel and effective method for type synthesis of redundant actuated parallel mechanisms(PMs)with closed-loop units is ***,the degree of freedom(DOF)and constraint line graph of the moving platform are determined successively,and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph,and a branch constraint allocation scheme is formulated based on the allocation ***,a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop ***,the branch chains that meet the requirements of branch chains configuration criteria and F&C(degree of freedom&constraint)line graph are *** this paper,two types of 2 rotational and 1 translational(2R1T)redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational(2T1R)redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples,and 238,92 and 15 new configurations were *** the mechanisms contain closed-loop units,and the mechanisms and the actuators both have good ***,all the mechanisms have excellent comprehensive performance,in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently *** instantaneous analysis shows that all mechanisms are not instantaneous,which proves the feasibility and practicability of the method.

关键词： Redundant actuated parallel mechanisms Type synthesis Atlas method Instantaneous analysis

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Design and analysis of a novel heavy-load positioner with series-parallel mechanism 4

Design and analysis of a novel heavy-load positioner with se...

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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Tang, Yan-Hua Parallel robot and mechatronic system laboratory of Hebei province Yanshan University QinhuangdaoHebei China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei China

ISBN: (纸本)9783038352570

A heavy-load positioner with series-parallel mechanism was put forward according to the heavy-load positioner’s task demand. Two rotational DOFs were realized by the spherical 3-DOF mechanism with a restricted embranchment instead of traditional gear-driven mechanism, the other by the serial part. The mechanism has the advantages of large workspace, good flexibility and high stiffness-to-weight ratio. The kinematics, statics and singularity of the positioner mechanism were analyzed. The mathematic model of the positioner mechanism was established. Combining the workspace demand of the positioner, dimension optimization of the mechanism was researched. Finally, the kinematics, statics and the singularity analysis of the positioner mechanism was verified through virtual prototype designed with one group of satisfied dimensions. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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Research and application of dual drive synchronous control algorithm

Research and application of dual drive synchronous control a...

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2012 International Conference on Information Technology and Software Engineering, ITSE 2012

作者： Jin, Herong Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Ministry of Education of China 438 Hebei Avenue Qinhuangdao 066004 China

ISBN: (纸本)9783642345272

According to the real time rapidity characteristic of generalized predictive control, dual drive control synchronous subsystem based on generalized predictive is designed. Based on coordinated control principle, a fuzzy controller is added between the channels of two drive subsystems. Aiming to minimize the cor-responding state difference of two subsystems, control scheme with synchronous error non-equal common feedback fuzzy correction is adopted, which keep the output of two synchronous subsystems consistent, improve the response speed of synchronous error to system, and reduce the synchronous error of two drive sub-systems effectively. The simulation results show that synchronous control strategy presented in this paper improve the response speed of synchronous error to system, reduce the synchronous error of two motors effectively, and provide advantageous guarantee for the high precision of large rotary dual drive synchronous systems. © 2013 Springer-Verlag.

关键词： Feedback

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