检索结果-内蒙古大学图书馆

IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Yundou Xu Shaoshuai Tong Zhongjin Ju Zengzhao Wang Yun Zhao Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei P.R. CHINA

ISBN: (纸本)9781538655481

An algorithm for intelligent operation of eight-degree-of-freedom hydraulic rock drill is proposed. With the help of a total station instrument, the position the rock driller was obtained. The D-H method was used to establish the linkage coordinate system of the rock drill manipulator, and the kinematic equations with joint variables being the inputs were obtained. Considering the structural characteristics of the rocker manipulator itself and the actual working conditions, the constrained equations were set, the inverse kinematic analysis was performed, and an intelligent algorithm that gave the analytical expression of each joint variable was obtained. The simulation model of the robotic arm was established by using Adams simulation software, the simulation results were in accordance with the theoretical calculations, which shows correctness of the algorithm. The research results provide a theoretical basis for follow-up drilling trajectory planning and lay a foundation for the intelligent operation of the rock drill.

关键词： Manipulators Rocks robot kinematics Kinematics Hydraulic systems Drilling machines

来源：评论

学校读者我要写书评

暂无评论

Mobility Analysis of Novel Deployable Mechanism Based on Tetrahedral Element

引用

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2019年第12期55卷 9-18页

作者： Guo, Jinwei Xu, Yundou Liu, Wenlan Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

The DOF (degree of freedom) analysis is carried out for the symmetrical and asymmetrical composite unit mechanism based on the 3RR-3URU tetrahedral element and the deployable composite unit structure based on the 3UU-3URU tetrahedral basic element. Firstly, the DOF and properties of 3RR-3URU tetrahedral basic element are analyzed based on the link-demolishing and equivalent method. The basic elements are combined into symmetric 3RR-3URU composite unit and asymmetric 3RR-3URU composite unit. Then, the structures and the geometric constraints of the two composite units are analyzed, and the screw theory and G-K formula are applied to analyze the DOF of the two composite units. Secondly, in view of the problem that the composite unit based on 3RR-3URU cannot satisfy the large deployable antenna mechanism, the 3UU-3URU basic element and its composite unit are proposed, and the DOF of which are obtained according to G-K formula. Finally, the simulation models of three composite units are established, and the ADAMS simulation software is used to simulate the motion of the three combined units. The simulation results verify the correctness of the DOF analysis. The results provide an important theoretical basis for the design and analysis of tetrahedral deployable antenna mechanism. © 2019 Journal of Mechanical Engineering.

关键词： Degrees of freedom (mechanics)

来源：评论

学校读者我要写书评

暂无评论

Dynamics of Passive-input Overconstrained Deployable Antenna Mechanisms Composed of 3RR-3RRR Tetrahedron Units

引用

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2020年第5期56卷 181-191页

作者： Liu, Wenlan Xu, Yundou Guo, Jinwei Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

The dynamic model of a passive-input overconstrained deployable antenna mechanism composed of 3RR-3RRR tetrahedron units is established, and the effects of the number, stiffness and initial compression angle of driving elements (i.e., torsion springs) on the motion of mechanism are analyzed. Based on the structural characteristics and spatial coordinate transformation formulas the relationships between the positions of the centroid of each component and the independent deployment angle of the mechanism are deduced, and then the analytical expressions of velocities of all components are obtained. The movements of all components are divided into translation motion, fixed-axis rotation, plane motion and compound motion according to the characteristic of the degree of freedom (DOF) of the mechanism. For the sake of dynamic analysis of the passive-input overconstrained mechanism, the composite motion of components is further decomposed into plane motion and translation motion along the normal direction of the plane. The dynamic models of the passive-input overconstrained deployable mechanism 3RR-3RRR and its combined mechanism 3(3RR-3RRR)-3RRR-3RRR are built by using Lagrange method. The relationships between the stiffness of torsion springs and the independent deployable angle of the mechanisms are obtained, and the influence of the stiffness and number of torsion springs on the deployable motion of the mechanisms is analyzed. The simulation model of 3(3RR-3RRR)-3RRR-3RRR mechanism is established by Adams software. The simulation is carried out by adding torsion springs with different numbers and stiffness. In addition, the effect of initial compression angle of torsion springs on the deployable motion of the mechanism is discussed. The simulation results verify the correctness of theoretical analyses. The results can provide theoretical guidance for the coordinated control of passive-input overconstrained deployable antenna mechanisms composed of 3RR-3RRR tetrahedron u

关键词： Stiffness

来源：评论

学校读者我要写书评

暂无评论

Teeth profile parameter design and transmission property analysis of external generating wave movable teeth transmission

Teeth profile parameter design and transmission property ana...

引用

19th International Conference of Fluid Power and mechatronic Control Engineering 2018

作者： Yi, Yali Gao, Yunfei Wei, Rui Jin, Herong College of Mechanical Engineering Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China

A highly efficient integrated transmission unit - external generating wave movable teeth transmission − was proposed and two kinds of typical transmission types were researched. Fixed and moving coordinate systems were established based on movable teeth transmission theory. On the basis of the profile of a wave generator, the teeth profile equations of ring gear were deduced by using the transform matrix and profile enveloping principle. The effects of the teeth number of the ring gear, generating wave coefficient, and tooth profile coefficient on the profile of the ring gear were investigated. The formula for calculating curvature radius of the ring gear was given. The pressure angle formulas were deduced, and the change rule of the pressure angle extremum was researched to obtain a continuous transmission condition. The relationship between design parameters and performance effect was analysed based on the analysis of the curvature and pressure angle. The results show that the transmission precision reached 97.67%, and the proper design parameters could guarantee transmission performance. Those researches lay a theoretical foundation for the design and application of an external generating wave movable teeth title. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Gear teeth

来源：评论

学校读者我要写书评

暂无评论

Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation robot

Research on Fuzzy PID Control Algorithm for Lower Limb Rehab...

引用

IEEE Information Technology and mechatronics Engineering Conference (ITOEC)

作者： Hongbo Wang Tingting Lu Baoshan Niu Hao Yan Xincheng Wang Jianyu Chen Yungui Li Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province

ISBN: (纸本)9781538653746

Cerebrovascular disease, hemiplegia and paraplegia may lead to lower extremity motor dysfunction. According to the theory of neural rehabilitation, proper rehabilitation training can help patients recover. In this paper, a lower limb rehabilitation robot is proposed, which can realize passive training and active training. Firstly, the mechanical structure and electrical system are designed. Secondly, in order to solve the problem of inaccurate parameters in the dynamic model of robot joint torque control, a fuzzy adaptive PID controller is established by combining negative feedback with PID regulator to eliminate the system error.

关键词： Training Rehabilitation robotics Legged locomotion PI control PD control robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

Mobility and motion analysis of a special 3-UPU parallel mechanism 14

Mobility and motion analysis of a special 3-UPU parallel mec...

引用

14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Chen, Ziming Zhang, Yang Huang, Kun Ding, Huafeng Huang, Zhen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China Faculty of Mechanical and Electronic Information China University of Geosciences Wuhan China

ISBN: (纸本)9789860460988

In this paper, the mobility and motion characteristics of a special 3-UPU parallel mechanism (PM) are studied. Using the screw theory and geometric method, the mobility of this PM is analyzed. When the moving platform and the base are not parallel, it has two rotational and one translational DOF. There is always a midperpendicular plane between the base and the moving platform. The moving platform can realize continuous rotation about any fixed axis or any fixed point on the midperpendicular plane and can have continuous translation along the normal line of the midperpendicular plane. Two numerical examples of the continuous motion are given.

关键词： Motion analysis

来源：评论

学校读者我要写书评

暂无评论

Forced vibration frequency response for a permanent magnetic planetary gear

Forced vibration frequency response for a permanent magnetic...

引用

International Conference on Vibroengineering - 2015

作者： Zhu, Xuejun Hao, Xiuhong Qu, Minggui Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China School of Materials Science and Engineering Yanshan University Qinhuangdao China

The time and frequency forced responses for the permanent magnetic planetary gear drive were computed and analyzed. The influence of air gap between sun gear and planetary gear to frequency forced responses is discussed. Results show that the changes of air gap have obvious effects on the low frequency vibration amplitude of elements. When air gap is too large or too small, it will seriously affects the dynamic performance of the system. So, selecting rational system structure parameters is very important, which can avoid system elements generating larger vibration. © JVE International Ltd.

关键词： Frequency response

来源：评论

学校读者我要写书评

暂无评论

Actuation singularity analysis of a 3-RPS rotational parallel mechanism 14

Actuation singularity analysis of a 3-RPS rotational paralle...

引用

14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Chen, Ziming Huang, Kun Zhang, Yang Huang, Zhen Ding, Huafeng Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China Faculty of Mechanical and Electronic Information China University of Geosciences Wuhan430074 China

ISBN: (纸本)9789860460988

In this paper, a particular actuation singularity of a 3-RPS symmetrical rotational parallel mechanism (PM) is studied. When the movable platform of this PM is restricted to rotate about the vertical axis of the base, it is equivalent to a single loop mechanism (SLM). By analyzing the constraint properties of the SLM, the motion characteristics of this 3-RPS rotational PM under this motion are obtained and the actuation singularity is determined. This kind of singularity will happen when the actuated joints reach the extreme values which is similar to the dead point singularity of the planar slider-crank mechanism. The same kind of singularity occurs to this class of 3-DOF symmetrical PMs with similar structure and motion properties.

关键词： Mechanisms

来源：评论

学校读者我要写书评

暂无评论

Continuous motion of a novel 3-CRC symmetrical parallel mechanism

Continuous motion of a novel 3-CRC symmetrical parallel mech...

引用

作者： Chen, Ziming Cao, Wen-Ao Ding, Huafeng Huang, Zhen School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Faculty of Mechanical and Electronic Information China University of Geosciences Wuhan China

parallel mechanisms (PMs) with three degrees of freedom (DOFs) have been studied extensively, especially the PMs with two rotational and one translational DOFs (2R1T PMs). One major problem of the 2R1T PMs is the inherent parasitic motion. In this paper, a novel 2R1T symmetrical parallel mechanism with no parasitic motion is proposed and studied. The moving platform and the base of this mechanism are mirror symmetric with respect to a mid-plane. This moving platform can realize continuous rotation about any axis or any point on the mid-plane and can have continuous translation along the normal line of the mid-plane. The constraint and motion characteristics of this mechanism are analyzed. The kinematics solutions and the Jacobian matrix are derived. The singularities of this PM are discussed. In the end, several numerical examples are given to show the continuous rotations and continuous translations of this PM. This kind of PMs has outstanding advantages of easy path planning and controlling. © 2014 Institution of Mechanical Engineers.

关键词： Jacobian matrices

来源：评论

学校读者我要写书评

暂无评论

Effect of Rolling Reduction Rate on the Microstructure of Hot Rolling Stainless Steel Clad Plate 5

Effect of Rolling Reduction Rate on the Microstructure of Ho...

引用

2018 5th International Conference on Advanced Composite Materials and Manufacturing Engineering, ACMME 2018

作者： Jin, Herong Zhang, Lei Yi, Yali Key Lab. of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

The macro-scale and meso-scale simulation models of stainless steel clad plate were established by DEFORM-3D. The multi-scale coupling simulations of clad plate with different rolling parameters were carried out. The seven pass hot rolling process of stainless steel clad plate was simulated by numerical simulation. By contrasting the vertical stress and the deformation resistance of cladding layer, the rolling reduction rate satisfying interface bonding was obtained. The grain distribution at the center of the substrate layer was analyzed and reasonable hot rolling reduction rates were selected considering their effects on the recrystallization volume percent and the grain size. The results show that the grain size decreases with the increase of reduction rate. However, too much reduction rate will decrease the rate of recrystallization volume percent and the refining effect of grain is not obvious. To ensure uniform grain size distribution, it is most reasonable to set the rolling temperature to 1150°C and the reduction rate to 50%. © Published under licence by IOP Publishing Ltd.

关键词： Stainless steel

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：