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

作者： Zhu, Xue Jun Xu, Li Zhong Yanshan Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

The time and frequency forced responses for the permanent magnetic planetary gear drive were computed and analyzed. The influence of magnetization intensity and pole pair number to frequency forced responses is discussed. Results show that the dynamic displacement when only considering output excitation is larger than that when only considering input excitationand magnetic parameters have obvious effects on the low frequency vibration amplitude of elements. When magnetization intensity and pole pair number are too large or too small, they will seriously affect the dynamic performance of the system. So, selecting rational system structure parameters is very important, which can avoid system elements generating larger vibration. © (2014) Trans Tech Publications, Switzerland.

关键词： Frequency response

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An End-Traction Lower Extremity Rehabilitation robot: Structural Design, Motion Analysis, and Experimental Validation 23rd

An End-Traction Lower Extremity Rehabilitation Robot: Struct...

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

作者： Bian, Hui Yang, Fan Sun, Zhaoliang Li, Jiachen Ding, Jiebin Li, Shuai Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Hebei Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China Hebei Qinhuangdao066004 China

ISBN: (纸本)9789811993978

An end-traction lower extremity rehabilitation robot named ETLER is designed to meet the rehabilitation needs of patients with lower extremity dysfunction at all stages of recovery, while taking into account the ease of operation for the patient. A single robot can meet the needs of a hemiplegic patient on either side for the designed end-change structure. The robots can also be used in pairs for patients with spinal cord injuries. Meanwhile, the adjustable ankle joint limit design provides customized training programs for the ankle joint. To carry out the trajectory planning of the rehabilitation robot, kinematic analysis and control strategy modeling of the robot and human–machine system are carried out. The functionality and universality of the rehabilitation robot are verified through comparative tests. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Machine design

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Research on Active Training Model of Rehabilitation robot Based on Joint Torque Signal 2

Research on Active Training Model of Rehabilitation Robot Ba...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Yan, Hao Yan, Yonggan Li, Yungui Niu, Baoshan Liu, Meng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University China Academy for Engineering and Technology Fudan University Shanghai China

This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force of the patient. According to the damping control strategy, the end force and speed mapping function planning is completed. The joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion. © Published under licence by IOP Publishing Ltd.

关键词： Balancing

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Analysis of force transducer calibration accuracy based on different influence factors

Analysis of force transducer calibration accuracy based on d...

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作者： Zhao, Yan-Zhi Li, Gui-Tao Niu, Zhi Weng, Da-Cheng Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Ministry of Education of China Qinhuangdao 066004 China Ministry of Education of China Qinhuangdao 066004 China

ISBN: (纸本)9783038351221

The actual use conditions of force transducer is differences between the factory verificationconditions, so based on the structure and working principles, this article is aimed at accurate calibration and proper use of force transducer. Through the CAE simulations and calibration experiments in actual working conditions which are the installation pre-tightening force, structure of fittings and pedestal's hardness, analyses the output signals of force transducer. Force standard machine was carried out on the calibration experiment to verify the correctness of the numerical simulation. And then the outcomes obtained by numerical simulations and the calibration experiments, it studies the differences of every output performance index of force transducers in different working conditions above-mentioned. © (2014) Trans Tech Publications, Switzerland.

关键词： Calibration

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Type Synthesis Method of Unconstrained SRCPR Based on Actual Workspace for Serial robots 2021

Type Synthesis Method of Unconstrained SRCPR Based on Actual...

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2021 International Conference on robotics and Control Engineering, RobCE 2021

作者： Qi, Lizhe Shan, Yu Zhang, Jie Zhao, Yanzhi Li, Erwei Sun, Yunquan Fudan University Academy for Engineering and Technology China Liren College of Yanshan University China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University China

ISBN: (纸本)9781450389471

In the field of industrial serial robots, the main problems existing at present are how to get the overall configuration of the serial robot and how to choose the optimal configuration of the serial robot. Aiming at these problems, this paper discussed the type synthesis problems of serial robots with prismatic pairs (P pairs) and rotational pairs (R pairs), and proposed a type synthesis method of unconstrained SRCPR (the serial robot configuration (SRC) with P pairs and R pairs) based on actual workspace for industrial robots. First, the "structural cell"of the serial robot SRCPR was proposed, and their topological relations were illustrated. Meanwhile, the dimensions of SRC were defined. Then, the relationships between the dimension of actual workspace and the dimension of SRC were founded. Finally, the type synthesis theoretical method of SRCPR was obtained by using the relationships. © 2021 ACM.

关键词： Industrial robots

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Active training research of a lower limb rehabilitation robot based on constrained trajectory

Active training research of a lower limb rehabilitation robo...

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International Conference on Advanced mechatronic systems (ICAMechS)

作者： Hongbo Wang Dong Zhang Hao Lu Yongfei Feng Peng Xu Razvan-Viorel Mihai Luige Vladareanu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Mechatronics Laboratory Institute of Solid Mechanics Bucharest Romania

In order to help patients achieve effective and coordinating multi-joints movement easily, the paper presents an active training method of a lower limb rehabilitation robot based on constrained trajectory. The realization process of the method is as follows. The patient's movement intention is recognized by analyzing the signals from torque sensors installed in rehabilitation robot joints, and the moving velocity of the mechanical arm terminal is calculated through the establishment of the damping function and the design of constrained trajectory. The velocity of joints can be calculated through kinematic Jacobi matrix, and is used to drive the joints. The moving velocity of the mechanical arm terminal on a constrained trajectory can be controlled through adjusting the damping function, in order to achieve the active rehabilitation training for different patients at different levels. Finally, the feasibility of the method is validated by the experiment.

关键词： Decision support systems robots Training Damping Erbium Conferences mechatronics

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Research on the Process-based Generation Method of Multi-ships Collision Avoidance Test Scenarios Database for Maritime Autonomous Surface Ships 33rd

Research on the Process-based Generation Method of Multi-shi...

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33rd International Ocean and Polar Engineering Conference, ISOPE 2023

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

ISBN: (纸本)9781880653807

This paper proposes a process-based method for generating virtual test scenarios for near-shore maritime autonomous surface ships (MASS) collision avoidance tests. The method includes a scenario complexity index to provide different difficulty levels of virtual test scenarios for different test requirements, reducing the test volume while ensuring coverage and reliability requirements. The scenario database generated by this method reflects the frequency of real-world scenarios and meets the requirements of virtual test realism. This method can improve the efficiency and reliability of MASS testing, with potential future improvements in the complexity evaluation matrix and statistical analysis of vessel maneuvering ability. © 2023 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Ships

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Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot 2

Dynamics analysis and simulation of a new 6-DOF lower limb r...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Lin, Musong Yan, Yonggan Liu, Guowei Su, Bowen Zhao, Chaosheng Wang, Fuhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao China Academy for Engineering and Technology Fudan University Shanghai China

This paper proposes a new hybrid (parallel-serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future. © Published under licence by IOP Publishing Ltd.

关键词： Joints (anatomy)

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Comfort degree of patients' rehabilitation training based on DSmT theory 2

Comfort degree of patients' rehabilitation training based on...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Yan, Hao Niu, Baoshan Wang, Xincheng Li, Yafeng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao China Academy for Engineering and Technology Fudan University Shanghai China

This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor information of fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling. © Published under licence by IOP Publishing Ltd.

关键词： Patient rehabilitation

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Kinematic Characteristics and Dynamics Analysis of a Double-ring Truss Deployable Antenna Mechanism

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Binggong Xuebao/Acta Armamentarii 2020年第4期41卷 810-821页

作者： Han, Bo Xu, Yundou Yao, Jiantao Zheng, Dong Li, Yongjie Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University QinhuangdaoHebei066004 China

A double-ring truss deployable antenna mechanism, which is used as the support and deployment mechanism for large-diameter space-borne antenna, is proposed to improve the stiffness of the single-ring truss deployable antenna with large diameter. The structural decomposition of double-ring truss deployable antenna mechanism is conducted, the screw constraint topology graph of the closed-loop deployable mechanism unit is drawn, and the degree of freedom (DOF) of the mechanism is analyzed. The analyzed result shows that the double-ring truss deployable mechanism has only one DOF. The screw velocity of each component in the mechanism is analyzed based on screw theory, the angular velocity and centroid linear velocity of each component are obtained through vector operation, and the Jacobian matrixes are also obtained. Furthermore, the screw accelerations of the components in the mechanism are derived based on the screw derivative, and the angular acceleration and centroid linear acceleration of each component in the double-ring truss mechanism are obtained. A dynamic model of the double-ring truss mechanism is established based on Newton-Euler equation and virtual work principle, and the numerical calculation and simulation verification are carried out. The research results show that the theoretical analysis is correct. The proposed double-ring truss deployable antenna mechanism has a simple structure, and can be smoothly deployed with only one input drive, the kinematic and dynamic analysis method based on screw theory used in this paper has a clear physical meaning, the analysis process is relatively stylized and is easy to program. © 2020, Editorial Board of Acta Armamentarii. All right reserved.

关键词： Screws

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