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

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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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Life prediction and test period optimization research based on small sample reliability test of hydraulic pumps

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High technology Letters 2017年第1期23卷 63-70页

作者：郭锐 Ning Chao Zhao Jingyi Wang Ping Shi Yu Zhou Jinsheng Luo Jing Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan UniversityKey Laboratory of Advanced Forging&Stamping Technology and Science(Yanshan University)Qinhuangdao 066004P.R.China Huachuang Tianyuan Industrial Developing Co. LtdLangfang 065000P.R.China College of Art and Design Yanshan UniversityQinhuangdao 066004P.R.China Beijing Research Institute of Automation for Machinery Industry Beijing 100120P.R.China

Hydraulic pumps belong to reliable long-life hydraulic components. The reliability evaluation includes characters such as long test period,high cost,and high power loss and so on. Based on the principle of energy-saving and power recovery,a small sample hydraulic pump reliability test rig is built,and the service life of hydraulic pump is predicted,and then the sampling period of reliability test is optimized. On the basis of considering the performance degradation mechanism of hydraulic pump,the feature information of degradation distribution of hydraulic pump volumetric efficiency during the test is collected,so an optimal degradation path model of feature information is selected from the aspect of fitting accuracy,and pseudo life data are obtained. Then a small sample reliability test of period constrained optimization search strategy for hydraulic pump is constructed to solve the optimization problem of the test sampling period and tightening end threshold,and it is verified that the accuracy of the minimum sampling period by the non-parametric hypothes is tested. Simulation result shows it could possess instructional significance and referenced value for hydraulic pump reliability life evaluation and the test's research and design.

关键词： hydraulic pump small sample test volumetric efficiency degradation path model life span period optimal

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Type Synthesis of Ring Truss Deployable Antenna Mechanism Based on Screw Theory

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Yuhang Xuebao/Journal of Astronautics 2019年第7期40卷 831-841页

作者： Han, Bo Xu, Yun-Dou Han, Yuan-Yuan Yao, Jian-Tao Zhao, Yong-Sheng 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 Education Yanshan University Qinhuangdao066004 China Department of Mathematics and Computer Science Hengshui University Hengshui053000 China

Based on the screw theory, the type synthesis of the ring truss deployable antenna mechanism is studied. Firstly, the constrained synthesis method based on the screw theory is briefly introduced, and the deployment principle of the ring truss deployable antenna mechanism is analyzed. Then, the ring truss mechanism is divided into two parts, the upper ring edge and the lower ring edge, the ring truss mechanism can be obtained by constructing the ring edge mechanisms and connecting the upper and lower ring edges. Furthermore, the prismatic joint (P) ARE used to describe the movement characteristics of each node, the analysis and synthesis of the ring edge mechanisms are carried out by the constraint synthesis method based on the screw theory, 16 kinds of constraint branch mechanisms are obtained, and two kinds of constraint branch mechanisms are selected through analysis and optimization. The ring edge link mechanisms are obtained by combining the constraint branch mechanisms, and four ring truss deployable mechanisms are obtained through different connection combinations. Finally, three-dimensional models are built in Solidworks software for the four kinds of ring truss deployable mechanisms, and the deployable features of the four mechanisms are verified by the movement simulation. The research provides a new idea for the synthesis of the deployable antenna mechanisms, and the ring truss mechanisms obtained have a good application prospect in the field of space deployable antenna. © 2019, Editorial Dept. of JA. All right reserved.

关键词： Computer software

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Fault Diagnosis Method for Hydraulic Pump Based on Order Tracking

Fault Diagnosis Method for Hydraulic Pump Based on Order Tra...

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2015 International Conference on Fluid Power and Mechatronics

作者： Wanlu Jiang Yong Zhu Meng Wang Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University)Ministry of Education of China

Aiming at the problem of extracting fault features from hydraulic pump under variable rotating speed, a fault diagnosis method based on order tracking was proposed. Firstly, the original signal was decomposed by ensemble empirical mode decomposition into a series of intrinsic mode function(IMF) components. Afterwards, the fault sensitive IMF was selected by combining energy spectrum and spectral kurtosis. Secondly, the selected IMF was processed by Hilbert demodulation and downsampling. Moreover, an appropriate frequency band was chosen and the signal was further processed by wavelet cluster-based bandpass filtering. Then, the fault sensitive envelope signal was obtained. Thirdly, the instantaneous frequency was extracted from the envelop signal by wavelet ridge tracking, and the time instant of phase discrimination was further calculated. Moreover, the even angle spaced resample was performed to the envelope signal. Then, the time domain non-stationary signal was transformed to the angular domain stationary signal. Finally, the stationary signal was analyzed by order tracking, and the fault diagnosis was executed according to the order spectrum. Furthermore, an application was performed to the vibration signals of hydraulic pump under variable rotating speed. The signals were respectively acquired in four typical states, which were normal, loose slipper, slipper wear and swash plate wear. Results indicate that the proposed method can effectively extract the fault features of hydraulic pump and further realize fault diagnosis.

关键词： hydraulic pump fault diagnosis order tracking variable rotating speed

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Research on Multi-fault Identification Method of Axial Piston Pump Based on Correlation Dimension

Research on Multi-fault Identification Method of Axial Pisto...

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2015 International Conference on Fluid Power and Mechatronics

作者： LIU Siyuan YANG Mengxue ZHANG Wenwen Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China Yanshan University

Aiming at the problem of multi-fault identification method of axial piston pump, a new method combining correlation dimension and support vector machine was ***, the envelope demodulation was performed to several typical fault vibration signals of pump by using wavelet packet decomposition and Hilbert transform method. Then, the useful signals corresponding to feature band were obtained. Secondly,using the embedded dimension as characteristic attribute, the correlation dimension feature information of the useful signals was extracted by correlation dimension analysis method. At the same time, the feature sample set consists of the correlation dimension feature information and the energy feature information was built. Finally, the feature sample set was utilized as input, and the multi-fault modes of the axial piston pump were identified by support vector machine. Moreover, the experiments were respectively performed to the pump including slipper wear, loose slipper failure and central spring failure. The results confirmed that the fault recognition accuracy of SVM can be improved, and the faults can be effectively identified.

关键词： multi-fault identification axial piston pump envelope demodulation correlation dimension support vector machine

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Influence Analysis of Strong Impact Load on Load-bearing Characteristics of Swash Plate Pump Slipper Pair

Influence Analysis of Strong Impact Load on Load-bearing Cha...

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第六届工程机械与车辆工程新进展国际学术会议

作者： J.X.Liu S.Y.Liu G.X.Zhang Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China Yanshan University

The strong impact load is one of the main reasons of slipper pair wear of swash plate pump,which seriously affects the load-bearing characteristics of slipper pair and service life of swash plate pump

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Task-oriented design method and experimental research of six-component force sensor

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8917卷 1-12页

作者： Yao, Jiantao Li, Wenju Zhang, Hongyu 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 Ministry of Education of China Yanshan University Qinhuangdao066004 China

As the isotropy performance widely used for evaluating parallel six-component force sensor is not suitable for a certain task, the task-oriented design method of the sensor is proposed. The mathematic model of sensor is built with the screw theory;based on the task requirement, the task ellipsoid is established. Then, with ellipsoid method, the design method for the sensor structure is proposed and the structure constraints are deduced. In order to perform peg-in-hole assembly task with the task-oriented sensor, the sensor prototype is designed and manufactured. Based on the assembly platform, the experimental research is carried out. The research results are useful for the design and application of six-component force sensor. © Springer International Publishing Switzerland 2014.

关键词： Structural design

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Isomap and intrinsic mode function feature energy-based multi-fault recognition method of rolling bearing

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ICIC Express Letters 2016年第2期10卷 279-285页

作者： Jiang, Wanlu Wang, Zhenwei Zhu, Yong Hu, Haosong Zhang, Bang Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education Yanshan University No. 438 Hebei Street Qinhuangdao China

Aiming at the nonlinear and non-stationary characteristics of vibrations from faulty parts, an approach was proposed to solve the problem by means of Isomap and intrinsic mode function (IMF) energy. The approach firstly conducts empirical mode decomposition to the vibration signals and calculates the energy of each IMF component to form feature vectors. Then Isomap reduces the vector dimensionality, by which bearing conditions can be visually diagnosed. And BP neural network is used to classify fault types. The approach was applied to measured vibration signals from normal condition and outer race, inner race and ball defects of rolling bearing. The results demonstrate that the approach can recognize fault type with high accuracy and high clustering. © 2016, ICIC Express Letters ICIC International.

关键词： Intrinsic mode functions

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Research on Active Training Model of Rehabilitation Robot Based on Joint Torque Signal

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

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第二届计算智能、工程与技术国际研讨会

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

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 *** to the damping control strategy, the end force and speed mapping function planning is *** joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion.

关键词： Research on Active Training Model of Rehabilitation Robot Based on Joint Torque Signal Active Model

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Fatigue Analysis of the Cylinder in The Axial Piston Pump

Fatigue Analysis of the Cylinder in The Axial Piston Pump

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2015 International Conference on Fluid Power and Mechatronics

作者： Quan Ling-xiao Cao Yuan Luo Hong-liang Guo Rui Guo Haixin School of Mechanical Engineering Yanshan University The State Key Laboratory of Fluid Power Transmission and Control Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China

For the cylinder of the axial piston pump suffers complicated forces including hydraulic pressure force, mechanical forces and mutual coupling, which causes the cylinder fatigue damage with all forces whose fluctuation is caused by fluid striking on the cylinder of the pump cyclically, it is necessary to develop the fatigue analysis research. And the sensitive fatigue areas of the cylinder in the axial piston pump is presented through the nephogram of the fatigue life, the fatigue safety factor over the whole model and the curve of fatigue sensitivity, which can verify the theory of micro crack propagation and the transient dynamics analysis of the axial piston pump cylinder is simulated. All the results are produced by software, Solidworks is used to build the three-dimension assembling model containing seven pistons and ANSYS Workbench is used to manage the model through setting the parameters of different materials and constrains of the cylinder. It's promising to provide a theoretical basis when optimizing the design of the axial piston pump and to offer new ideas and methods for the study of reliability and fatigue durability on the axial piston pump.

关键词： Axial piston pump Cylinder Transient dynamics simulation Fatigue simulation

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