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Innovative design and optimization of a two-dimensional deployable nine-grid planar antenna mechanism with a flat reflection surface

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Chinese Journal of Aeronautics 2023年第11期36卷 529-550页

作者： Bo CHEN Ze JIANG Xinlu WEI Luyao GUO Xin ZHOU Yundou XU Junjie QIAN 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 Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.Ltd Shanghai 201109China Aerospace System Engineering Shanghai Shanghai 201109China

With the development of the aerospace industry,space missions are becoming more complicated and diversified,and there is a demand for antenna mechanisms with a larger physical *** this paper,a planar deployable mechanism is proposed,which can form a flat reflection surface with a small gap between *** this end,a novel large-scale two-dimensional deployable nine-grid planar antenna mechanism is ***,two antenna folding schemes and four supporting mechanism schemes are *** comparison analysis,the antenna configuration scheme with the best comprehensive performance is selected.A kinematic model of the deployable mechanism is established,and its kinematic characteristics are ***,the correctness of the kinematic model is verified by comparing the analytical and simulation results of the kinematic ***,a finite element model of the antenna is *** on the response surface method,the structural parameters of the support rods of the antenna are optimized,and a set of optimized solutions with lightweight and high fundamental frequency characteristics are ***,a prototype of the proposed nine-grid planar antenna is *** feasibility of the deployment principle and the rationality of the designed mechanism are verified by deployment experiments.

关键词： Design optimization Kinematics Planar antenna Structural design Two-dimensional expansion

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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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Measuring limitation analysis of six-axis wrist force sensor based on screw theory 4

Measuring limitation analysis of six-axis wrist force sensor...

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

作者： Wang, Zhi Jun Liu, Wan Yu He, Jing Li, Zhan Xian Zhao, Yong Sheng College of Mechanical Engineering Hebei United University Tangshan China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

When robot do contact operation task to unknown environment, it often need wrist force sensor to check contact force information between robot and environment then judge the contact state, and check the information feedback to control system for completing operation smoothly. This paper analyze the measure theory of robot end wrist six-axis force sensor based on screw theory, propose and verify the limitation of six-axis wrist force sensor for measuring the six-dimensional force online. © (2014) Trans Tech Publications, Switzerland.

关键词： robots

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Configuration Synthesis and Performance Analysis of 9‑Speed Automatic Transmissions

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Chinese Journal of Mechanical Engineering 2020年第3期33卷 97-117页

作者： Huafeng Ding Changwang Cai Ziming Chen Tao Ke Bowen Mao School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering and Electronic Information China University of Geosciences(Wuhan)Wuhan 430074China.

Current research of automatic transmission(AT)mainly focuses on the improvement of driving performance,and configuration innovation is one of the main research ***,finding new configurations of ATs is one of the main limitations of configuration *** the present study,epicyclic gear trains(EGTs)are applied to investigate mechanisms of 9-speed *** four kinematic configurations are proposed for automatic *** order to evaluate the performance of proposed mechanisms,the lever analogy method is applied to conduct kinematic and mechanical *** power flow analysis is conducted,and then transmission efficiencies are calculated based on the torque *** comparative analysis between the proposed and existing mechanisms is carried out where obtained results show that proposed mechanisms have reasonable performance and can be used in *** prototype of an AT is manufactured and the speed test is conducted,which proves the accuracy of analysis and the feasibility of proposed mechanisms.

关键词： Automatic transmission Epicyclic gear train Lever analogy Gear ratio Torque method

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Type Synthesis and Analysis of Rigid-Flexible Hybrid Stable Tracking robot on USV 23rd

Type Synthesis and Analysis of Rigid-Flexible Hybrid Stable ...

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

作者： Erwei, Li Ruijie, Lu Tieshi, Zhao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao463400 China Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9789811993978

With the increasing demand for offshore USV-UAV cooperation, the autonomous safe landing of UAV on USV has become a key issue. The USV bears multi-dimensional swaying motion under the influence of wind, waves and currents when sailing, which poses a great challenge to the take-off and landing of UAV. Aiming at the above challenge, this paper proposes a stable tracking robot consisting a PM (parallel Mechanism) and a planar CDPM (Cable-Driven parallel Mechanism). Firstly, according to the DOF (degree of freedom) requirements of the stable tracking robot, a hybrid mechanism with 2R1T PM and 1R2T planar CDPM was constructed on the basis of the principle of DOF distribution and the existing mechanism. Secondly, the process of assisting the take-off and landing of the UAV was determined, and the kinematics and dynamics of the stable tracking robot were carried out based on the screw algebra. Finally, the simulation experiment of the rigid-flexible hybrid stable tracking robot to assist the take-off and landing of the UAV was carried out, which verifies the correctness of the kinematics and dynamics models established, and lays a foundation for the subsequent prototype design and control. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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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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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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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Shanshan Wang, Hongbo Li, Dong Li, Minghao Li, Lianqing Tian, Yu Niu, Jianye Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Qinhuangdao066004 China Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Key Lab. of Advanced Forging Stamping Technology and Science of Ministry of Education of China Qinhuangdao066004 China

ISBN: (纸本)9798350325706

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. © 2023 IEEE.

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Kinematics Analysis of a New parallel Mechanism with Complete Separation of Constraints and Drives 16th

Kinematics Analysis of a New Parallel Mechanism with Complet...

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

作者： Qiu, Can Wang, Yu Wu, Jiabin He, Xiaoyu Ma, Xuejian Xu, Yundou Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9789819964888

At present, there is a growing demand for parallel mechanisms with fewer inputs and more outputs. These mechanisms are highly sought after in industries such as aerospace, antenna, and entertainment facilities, among others. Therefore, this paper proposes a new parallel mechanism (PM) that utilizes separation of constraints and drives, resulting in centralized drive management. Thereby achieving a small amount of driving to drive multiple parallel moving platforms. For example, 3nRRS/PPPS parallel mechanism. In this study, we utilize the closed-loop vector method to obtain the inverse solution for the 3RRS/PPPS parallel mechanism. To perform a static analysis, we construct a complete Jacobian matrix for the mechanism. Under the premise of satisfying the workspace, the key dimensional parameters of the mechanism were optimized with the objective of improving the load-carrying capacity of the mechanism and minimizing the driving force. The method of complete separation of constraints and drives is easier to centrally manage drives, greatly improving energy utilization and work efficiency, and having a wide range of application scenarios in antenna, entertainment facilities, and other situations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Inverse problems

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Design of a positioning manipulator for minimally invasive vascular interventional surgery robot system 15

Design of a positioning manipulator for minimally invasive v...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Wang, Hongbo Wang, Xusheng Guan, Bo Chang, Jingyuan Yu, Haoyang Tian, Hesuo Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Zhejiang Youren intelligent robot Co. Ltd No. 175 Anshan Road Yuyao Zhejiang Province15400 China

ISBN: (纸本)9781538660720

In order to realize the flexibility and positioning reliability of the positioning manipulator of the minimally invasive vascular interventional surgery robot system, and to avoid the problem of fixed programming of the active positioning manipulator, a new passive positioning manipulator was designed. First, based on the requirements of the system and the self-balancing conditions of the passive positioning manipulator, a configuration of the manipulator is proposed, and the degree of freedom and working space are verified to meet the requirements of the working conditions. Then, according to the characteristics of simultaneously locking and release of the joints when the manipulator works, a locking scheme of multi-joint is proposed, and the design of the mechanical structure is carried out in detail. Finally, the positioning manipulator can achieve the function of being dragged under artificial operation and locating whenever and wherever necessary. © 2018 IEEE.

关键词： Manipulators

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A novel End-effector Finger Rehabilitation robot (EFRR) for stroke patients 7

A novel End-effector Finger Rehabilitation Robot (EFRR) for ...

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2021 7th International Conference on Manufacturing Technology and Applied Materials, ICAMMT 2021

作者： Hongbo, Wang Yu, Tian Baoshan, Niu Jiazheng, Du Junjie, Tian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Academy for Engineering and Technology Fudan University Shanghai200433 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

This paper proposes a prototype of a novel end-traction finger rehabilitation robot with flexion/extension and adduction/abduction functions. The degree of freedom (DoF) and finger joint torque of a single-finger module has been analysed, and the calculation and selection of the motor driving force are completed. Finally, the design details of the mechanism and the hardware system of the robot are illustrated. This device minimized the mechanical size to some extent by using only one motor for a single finger, which also reduces the cost and increases the possibility of industrial application prospects. © Published under licence by IOP Publishing Ltd.

关键词： End effectors

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