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Dynamic Parameter Identification, Control and Experiment of an Electromechanical Coupling Multi-energy Domain system For a parallel robot

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2018年第11期54卷 141-150页

作者： Li, Yongquan Wang, Lijie Liu, Tianxu Zhang, Yang Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Ministry of Education of China Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The planar 2-DOF redundant actuation parallel robot is taken as the object of study. Combining with two methods of Lagrange equation and bond graph, the dynamics model of the electromechanical coupling multi-energy domain system of the robot is established. According to the characteristics of the robot, a method of undetermined coefficients for linearization of dynamic models is presented, and by means of this method, the linearized form of dynamic model of the electromechanical coupling multi-energy domain system is obtained, which can avoid the error caused by the linearized form of the dynamic model obtained by the traditional simplified method. The excitation trajectory of identification is constructed by Fourier series improved by quintic polynomial form. The experimental platform of dynamic parameter identification is built, the identification of the dynamic parameters of the electromechanical coupling system is studied by the weighted least square method base on the experiment. The proposed identification strategy can not only identify the inertial parameters and friction parameters of the mechanism, but also identify the equivalent moment of inertia and the equivalent friction coefficient of the motor and the reducer. The force/position hybrid control strategy base on the computed torque is designed, and the identified dynamic parameters are applied to the control strategy. The practicability of the identification of the dynamic parameters of the electromechanical coupling multi-energy domain system and the correctness of the force/position hybrid control strategy based on the computed torque are verified by experiments. © 2018 Journal of Mechanical Engineering.

关键词： Dynamic models

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Dynamics Parameter Identification and Control of a Spherical 2-DOF Redundant Driven parallel robot system

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Zhongguo Jixie Gongcheng/China Mechanical Engineering 2019年第16期30卷 1967-1975页

作者： Li, Yongquan Wu, Pengtao Zhang, Yang Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education Yanshan University QinhuangdaoHebei066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University QinhuangdaoHebei066004 China

A spherical 2-DOF redundant drive parallel robot driven by servo motor was the research ***, the inertia parameter identification model of the mechanisms was established, and the inertial parameter identification trajectory was ***, the friction parameter identification model of the mechanism pairs and the friction parameter identification model of the driving system were established, and their identification principles were analyzed *** trajectory of friction parameter identification was also ***, through the identification experiments, the mechanism inertia parameters, the mechanism rotation pair friction parameters and the driving system friction parameter identification results were obtained, the original mechanism parameters were modified by the identification results, a more accurate robot system dynamics model was obtained, and the identification results were validated by the trajectory test ***, a feed forward control strategy was developed based on the dynamics model of the robot system and compared with the traditional mechanism kinematics closed-loop control *** feasibility of this control strategy was proved. © 2019, China Mechanical Engineering Magazine Office. All right reserved.

关键词： Mechanisms

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Design and Analysis of a New 5-DOF Hybrid Serial-parallel Manipulator

Design and Analysis of a New 5-DOF Hybrid Serial-Parallel Ma...

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作者： Xu, Yundou Xu, Zhenghe Yang, Fan Mei, Youen Yue, Yi Zhou, Yulin Yao, Jiantao Zhao, Yongsheng Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Qinhuangdao066004 China Shanghai Aerospace Equipment Manufacture Company Limited Shanghai201100 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

In this paper, a 2R1T (two rotations and one translation) over-constrained parallel mechanism R(2RPR)R/SP with two ordered continuous rotational axes is proposed, which contains fewer joints, by concatenating a 2-degree-of-freedom (DOF) RR tilting head with orientation-adjusting capability, a novel 5-DOF hybrid manipulator is constructed. On this basis, optimize the sizes with the best performance of the motion/force transmissibility as the optimization target, and the design dimensions that meet the requirements of the workspace are obtained and the structural design is carried out. The static stiffness of the manipulator are analyzed, and the analysis results are verified by simulation and compared with the products that have been successfully applied in foreign countries. An iterative searching method is used to determine the workspace of the manipulator, and evaluate whether the workspace of the hybrid manipulator meets the requirements. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Manipulators

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Research on a kind of leg-wheel stair-climbing wheelchair

Research on a kind of leg-wheel stair-climbing wheelchair

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IEEE International Conference on mechatronics and Automation

作者： Hongbo Wang Li He Qi Li When Zhang Dong Zhang Peng Xu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei Province China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao Hebei Province China

ISBN: (纸本)9781479939800

A kind of leg-wheel stair-climbing wheelchair is proposed. The device adopts a leg-wheel composite structure. Both leg type and wheel type can achieve the function of climbing stairs independently, but together they complement each other nicely to strengthen the performance. Stair climbing is completed by coordinating the movement of the legs and the mobile system. There are two control schemes proposed in the control system. Two different kinds of motors, including DC servo motors and DC motors, are controlled. The device has simple operation and good performance which can realize the free conversion from ground model to stair model.

关键词： Conferences mechatronics Automation

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Mechanism design and simulation analysis of robot system for vascular interventional surgery 7

Mechanism design and simulation analysis of robot system for...

引用

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

作者： Yu, Haoyang Wang, Hongbo Liu, Wenjie Niu, Jianye Huang, Da Yang, Xue Dong, Yu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Academy for Engineering and Technology Fudan University Shanghai200433 China School of Mechanical Engineering Jinan University Jinan China Co. Ltd Shanghai 200131 China

At present, the mortality of cardiovascular and cerebrovascular diseases is getting higher and higher, interventional surgery has obvious advantages over traditional surgery, and robot technology has also entered this field. Combined with the existing research results, a set of surgical robot system is designed. The operating device uses magnetic powder brake to provide real force feedback of braking torque, the propulsion device adopts a clamping rod structure to accurately clamp the catheter or guide wire, and the force signal is collected by using the lever principle. Finally, the study of the dynamic characteristics of the propulsion device shows that the smaller the quality and the higher the tension force are, the more favorable the performance of the propulsion device is, and the calculation verifies the rationality of the transmission part of the propulsion device. © Published under licence by IOP Publishing Ltd.

关键词： Machine design

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Stiffness analysis of a planar 3-RPS parallel manipulator

Lecture Notes in Mechanical Engineering

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Lecture Notes in Mechanical Engineering 2017年 13-28页

作者： Hu, Bo Song, Chunxiao Li, Bo Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei066004 China

This paper studied the stiffness model and characteristics of a planar 3-RPS PM with 3-DOF. The 6 × 6 form stiffness matrix of the planar 3-RPS PM is derived with both active and constrained wrenches considered. To characteristic the stiffness of the planer 3-RPS PM, two decomposition methods including the eigenscrew decomposition and the principle axes decomposition are applied to the stiffness matrix. The stiffness matrix decomposition provides a physical interpretation and allows the identification of the compliant axes of the planar 3-RPS PM. © Springer International Publishing Switzerland 2017.

关键词： Stiffness

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A Calibration Method for parallel robot Based on Eye in Hand Vision

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Zhongguo Jixie Gongcheng/China Mechanical Engineering 2020年第6期31卷 722-730and755页

作者： Li, Yongquan Wang, Haochen Zhang, Yang Zhang, Yan Zhang, Lijie Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University QinhuangdaoHebei066004 China Ministry of Education QinhuangdaoHebei066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University QinhuangdaoHebei066004 China

A calibration method of parallel robots was proposed based on eye in hand vision. Firstly, based on the loop increment method, the kinematics errors and calibration model of a planar 2-DOF redundant actuated parallel robot were established. Secondly, a target plate was designed for the calibration experiments, and the target image was captured by the camera and processed by the segmentation, recognition and rotation compensation, and then the pixel error values of the end positions and the actual positions of the mechanisms were obtained. Thirdly, limited by the structures of the mechanisms, using the boundary curve to identify the feature corner points, a method was proposed to determine the rotation angles of the detection point based on the feature corner points. On the basis of compensating the rotation angles of the camera, using a simplified model of the camera pinhole, the error values of the pixel errors were converted to the true position error values of the ends of the mechanisms. Finally, the calibration model and the error values obtained through the visual system were used for kinematics calibration. After 4 iterations, the errors of the mechanisms are decreased to 1/3, which verifies the feasibility of the robots. The proposed method has the advantages of short time of calibrations, small amount of data and low cost of experiments. © 2020, China Mechanical Engineering Magazine Office. All right reserved.

关键词： Kinematics

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Innovation design and operation control method of the minimally invasive vascular interventional surgery robot system

引用

BioTechnology: An Indian Journal 2013年第12期8卷 1604-1613页

作者： Xue, Yang Hongbo, Wang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao 066004 China

A novel minimally invasive vascular interventional surgery robot system is proposed. The system includes a positioning arm, a catheter interventional device and its manipulation *** operation control method for the positioning arm is presented, which is to drag a six-dimensional force sensor fixed on the end of the arm. A six-dimensional force signal will be outputted and transformed into a position and orientation matrix respective to the positioning arm. A fictitious joint is added to the arm with five-degree of freedom (DOF) in accordance with certain principles to change it into a six-DOF configuration. Using the obtained position and orientationmatrix to do inverse kinematic of the six-DOFmechanism, the inverse kinematic of the five-DOF mechanism can be obtained. Take these values as position control commands to the corresponding jointmotors to realize the motion control of the positioning *** example is given to verify the correctness of the proposed method. A master-slave system composed by a catheter interventional device and its manipulation device is proposed. The corresponding actions of every operation states and the master-slave control principle are given. The mapping relations between the displacement distances of the manipulation handle and the promoting finger and between the rotation angles of the handle wheel and the catheter/guide wire are described. By setting different proportionality coefficients, themulti-gear control can be *** the help of master-slave operational method, the doctors can do operations outside the operation room to protect themselves from radiation. Moreover, the systemcan realize force feedback which can help the operator to have force telepresence and to increase the sense of reality and immersion. © 2013 Trade Science Inc. - INDIA.

关键词： Degrees of freedom (mechanics)

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Design of a Positioning Manipulator for Minimally Invasive Vascular Interventional Surgery robot system

Design of a Positioning Manipulator for Minimally Invasive V...

引用

IEEE International Conference on mechatronics and Automation

作者： Hongbo Wang Xusheng Wang Bo Guan Jingyuan Chang Haoyang Yu Hesuo Tian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Zhejiang Youren intelligent robot Co. Ltd Yuyao Zhejiang Province China

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.

关键词： Manipulators Brakes Springs Gravity Torque Minimally invasive surgery

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Analysis and prediction of multi-joint coupling torque of fingers

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

引用

2019 Intelligent Rehabilitation and Human-machine Engineering Conference (IRHE-2019)

作者： Jinxu Yu Lin Zheng Xiaolin Bai Yihao Du Lijie Zhang Ping Xie 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)9781839534430

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 finger in 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 interphalangeal (PIP) joint and distal phalangeal (DP) joint were solved. Then, the finger D-Η 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.

关键词： Quality function deployment

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