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Research Square 2021年

作者： Li, Yong-Quan Jiang, Hong-Sheng Zheng, Tian-Yu Xi, Ke-Long Jing, Han Zhang, Li-Jie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The 3-translational parallel mechanism is widely used in industrial, medical, and military fields, among others. With the development of the national logistics industry, a pressing need for a kind of 3-translational parallel mechanism emerged. Such mechanisms have high stiffness and high bearing capacity and are used for cargo handling and sorting. A novel method based on the graphical approach was proposed for the synthesis of 3-translational redundancy actuated parallel mechanism with closed-loop branch chains. The new mechanism has four symmetrically arranged branch chains, which eases subsequent kinematics and dynamics analyses while providing good mechanical properties. Based on the graphical approach theory, according to the constraint number contained in the branch chain, two types of redundant driven branch chains with closed-loop structures were constructed. The first type includes rotation constraint in one direction, while the second type includes the rotation constraint in two directions. Based on various combinations of two branch chain types, their allocation schemes can be divided into two types. Moreover, said these two allocation schemes can be integrated into at least 500 and 400 types of 3-translational redundant actuated parallel mechanisms with closed-loop branch chains. Then, the degree of freedom properties of representative mechanisms were tested using the screw theory. A large number of novel mechanisms were integrated assessed using this method, and branch chains such mechanisms were symmetrically distributed. They have a strong bearing capacity, simple calculation, and control, and can be applied to the handling and sorting of goods, large-scale precision machine tools, and large construction machinery vibration isolation systems, among others. © 2021, CC BY.

关键词： Redundancy

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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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Corrigendum to “Research on the influence of differential speed ratio on the microstructure and properties of 316L/Ni/EH40 composite plate by asymmetrical rolling” [Mater. Today Commun. 37 (2023) 107431]

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Materials Today Communications 2024年 38卷

作者： Kangkang Feng Biao Zhang Xiaolong Shen Yali Yi Herong Jin School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao 066004 China

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Kinematic Characteristics and Dynamics Analysis of the Tetrahedral Deployable Mechanism Based on the Screw Theory

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Jiqiren/Robot 2020年第1期42卷 21-28and38页

作者： Han, Bo Han, Yuanyuan Xu, Yundou Zheng, Dong 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 Education Yanshan University Qinhuangdao066004 China Department of Mathematics and Computer Science Hengshui University Hengshui053000 China

In order to solve the modeling and analysis problems of the kinematics and dynamics of the spaceborne tetrahedral space deployable antenna, a kinematics and dynamics characteristics analysis method based on screw theory is established. Firstly, configuration and geometric characteristics of the 3RR-3RRR tetrahedral deployable mechanism are analyzed, its screw constrained topology diagram is obtained based on screw theory, and its degree of freedom (DOF) is calculated to be only one. Then, the kinematics analysis of the mechanism is conducted, the velocities of the components are obtained through the combinatorial operation of kinematic twists, and the Jacobian matrix of this mechanism is also obtained. The 6-dimensional acceleration of each component is expressed by the screw derivative, and the angular accelerations and centroid linear accelerations of the node disks and rods are deduced. Finally, the dynamic equation is established based on the Newton-Euler equation and the principle of virtual work, and the numerical calculation and simulation verification are carried out. The simulation results are completely consistent with the numerical results, which verifies the correctness of the kinematics and dynamics characteristics analysis method based on screw theory. Every parameter has clear physical meanings in the analysis based on the proposed method, and the analysis process is easy to program due to its stylization and is suitable for the analysis of such spatial deployable mechanisms. © 2020, science Press. All right reserved.

关键词： Screws

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Influence of liquid film thickness on bearing characteristics of magnetic-liquid suspension guide-way

Influence of liquid film thickness on bearing characteristic...

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

作者： Zhao, Jianhua Zhang, Bin Chen, Tao Wang, Qiang Gao, Dianrong Key Laboratory of Advanced Forging and Stamping Technology and Science Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The magnetic-liquid suspension guide-way (MLSG) adopts the double support form of permanent magnetic suspension and hydrostatic pressure. It can greatly enhance the bearing capacity and rigidity of the guide-way system. The liquid film thickness is the main influencing factor on both the bearing capacity of the hydrostatic system and the permanent magnetic force. This paper analysed the effect of liquid film thickness on the static, dynamic and vibration index of MLSG. Firstly, this paper introduced the structural characteristics and supporting mechanism of MLSG. Secondly, based on flow equation, the static pressure equation, the permanent magnetic force equation and the force balance equation, the transfer function of single DOF supporting system of MLSG in constant flow supply mode is presented, and analysed the influence of the thickness of liquid film on single DOF supporting performance of MLSG. The results show that with the increase of the thickness of the liquid film, the bearing capacity of guide-way, the static stiffness, the dynamic stiffness and the natural frequency decrease, and the adjust time, the total power loss, the amplitude amplification coefficient increases, the phase margin is almost unchanged. The study can provide a theoretical basis for the design of MLGS in engineering practice. © 2019 Institution of Engineering and technology. All rights reserved.

关键词： Bearing capacity

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Dynamic Modeling Method of Spatial Passive Over-constrained Parallel Mechanism Based on Newton Euler Method

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2020年第11期56卷 48-57页

作者： Li, Yongquan Guo, Yu Zhang, Yang Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The 4-RPTR four-degree-of-freedom space passive over-constrained (redundant constrained) parallel mechanism is taken as the research object, and the Newton Euler method combined with the complementary deformation coordination equation is used to analyze the dynamics. The number of dynamic equations based on Newton's Euler method is 78, but due to the existence of passive over-constraints of the mechanism, the unknown variables of the required solutions are 80. When the eight deformation coordination equations are added according to the method of planar over-constrained mechanism, it will be linearly related to the 78 equations built, resulting in the equations being unable to solve. Based on this, when proposing the dynamics modeling of passive over-constrained parallel mechanism, the reason for the passive over-constraint of the mechanism should be analyzed firstly. On this basis, adding the deformation of the member caused by the redundant constrained force (torque) and the position and posture error of the terminal platform as a complementary equation ensures that the equations are linearly independent and can be solved. To this end, the relationship between the deformation of the rod and the position and posture error of the terminal platform caused by the rotational joint restraining torque directly causing the redundant constraint is introduced, and eight deformation coordination equations are added, and six unknown variables are introduced, thereby obtaining 86 equations. Containing 86 unknowns, and the equations are linearly independent, the dynamic solution model of the mechanism is obtained. Based on matlab and adams software, the dynamics simulation of the mechanism is carried out. When the same motion trajectory is given at the terminal of the platform, the correctness of the dynamic model can be seen by comparing the driving force variation curves of the two methods. It provides a new idea for dynamic modeling of this type of space passive over-constrai

关键词： Dynamics

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Kinematic, Workspace and Force Analysis of a five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

Research Square

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Research Square 2021年

作者： Xu, Yundou Yang, Fan Mei, Youen Zhang, Dongsheng Zhou, Yulin Zhao, Yongsheng Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology Science of Ministry of National Education Yanshan University Qinhuangdao006004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Tencent Robotics X Tencent Holdings Shenzhen518057 China

In the present study, the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective. In this paper, kinematics of the hybrid manipulator, including the forward and inverse position, are analyzed. Then, 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 analyzed. After 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 simulation. Based on the obtained results from the force analysis, the manipulator structure is design. Then, the structure optimization is carried out to improve the robot stiffness. Finally, 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 processing ability of the prototype and proves that the prototype has good application prospects. © 2021, CC BY.

关键词： Kinematics

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Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2018年第3期31卷 60-68页

作者： Dong-Sheng Zhang Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University

Hybrid manipulators have potentially application in machining industries and attract extensive attention from many researchers on the basis of high sti ness and high dexterity. Therefore,in order to expand the application prospects of hybrid manipulator,a novel 5?degree?of?freedom(DOF) hybrid serial?parallel manipulator(HSPM) is proposed. Firstly,the design plan of this manipulator is introduced. Secondly,the analysis of this manipulator is carried out in detail,including kinematics analysis,statics analysis,and workspace analysis. Especially,an amplitude equivalent method of disposing the over?constrained force/couple to the non?overconstrained force/couple is used in the statics analysis. Then,three performance indices are used to optimize the PM. Two of them have been widely used,and the third one is a new index which considers the characteristics of the actuated force. Based on the performance indices,the performance atlas is drawn and the optimal design of the PM is investigated. In order to satisfy the anticipant kinetic characteristics of the PM,the verification of the optimized physical dimension is done and the workspace based on the optimized physical dimension is carried out. This paper will lay good theoretical foundations for application of this novel HSPM and also can be applied to other hybrid manipulators.

关键词： Parallel mechanism Performance indices Optimal design Performance atlas

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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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Finite element simulation and microstructure of two-pass inner spinning process of curved-generatrix cone cylindrical parts with annealing/quenching

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Journal of Central South University 2019年第12期26卷 3305-3314页

作者： HAO Zeng-liang YANG Zhe-yi) WEI Wei LIU Lei LUO Jun-ting LIU Jin-heng Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of Education Yanshan UniversityQinhuangdao 066004China State Key Laboratory of Metastable Materials Science and Technology Yanshan UniversityQinhuangdao 066004China Hebei Construction Material Vocational and Technical College Qinhuangdao 066000China

A two-pass annealing/quenching internal spinning process with small-end rotations is proposed to form a curved generatrix conical thin-walled *** is,annealing at 360°C for 2 h followed by the 1st pass spinning,and finally quenching in ice water after holding for 1 h at 498°C followed by the 2nd pass *** finite element software is used to simulate the internal spinning process of the products formed under different forming *** distribution laws of spinning force,the stress and strain under different forming processes were compared and *** mechanical properties and microstructure of the products are subsequently *** results show that the strain and the residual stress in the skin area of the formed products under two-pass spinning process more uniform,and the hardness and the mechanical performance are *** microstructure of the products formed with the 0.15 mm thickness reduction at the 2nd pass is *** the second phase grain size distributed uniformly in the range of 36μ***,the second phase particles are broken seriously and the size distribution inhomogeneity is increased when the thickness reduction in the skin area is greater than 0.20 mm at the 2nd pass spinning process.

关键词： curved generatrix conical internal spinning process annealing/quenching small-end rotations finite element simulation

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