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IEEE International Conference on Mechatronics and Automation

作者： Jie Huang Weimin Ge Xiaofeng Wang Jun Liu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin China

ISBN: (纸本)9781509023974

Reconfigurability of the modular robot is becoming curial to be a high flexibility for the wide varieties of tasks and environments. In this paper, a novel self-reconfigurable modular robot called M 2 sbot is designed, which has the approximate cuboid shaping structure. The unit model is with one active and five passive connection surfaces, compact structure and flexible motion. It is characterized by using the unique hook-claw docking mechanism as the docking part of the neighbor modular. And the responding control system based on STM32F103VET6 is also implemented. The forward kinematic equations of the chain robot are established, and then the dynamic equation is generated by the recursive Newton-Euler method based on the global matrix description. Finally, the calculation and simulation analysis of the six-module configuration with two branches demonstrates the feasibility of the proposed method in the generation of motion equation.

关键词： Gears Mathematical model Kinematics DC motors Robot sensing systems Robot kinematics

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A new bioreactor for compound loading with torsion and compression

A new bioreactor for compound loading with torsion and compr...

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第五届国际仿生工程学术大会(ICBE2016)

作者： Ke Li Chunqiu Zhang School of mechanical engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System

This paper presents a new type of multifunctional bioreactor, which is to provide cell tissue a mechanical environment which is close to the real situation. This bioreactor is based on the concept of fatigue machine, add torsion module to compress and tension module, with new design of both loading device and culturing device by modern CAD technology. Driven by voice coil motor, step motor and a well designed mechanical structure, this machine has excellent controlling performance and no accumulated error, easy to adjust operating height, loading frequency, compressing stroke and torsioning angle. It has different loading modes, with compression or torsion separately, or providing compound load with both torsion and compression. With a delicate culturing device, the height and the limit of loading head is easy to adjust accordingly, it can also provide liquid environment during the loading process, which is closer to biological characteristics and physiological environment. After simple refit, it's also able to be used as a tension machine. This machine supplies different mechanical environment for biomechanics research to make related experiments more effective and accurate.

关键词： bioreactor compound loading torsion and compression

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The Prediction Model of Surface Roughness Based on Experiments of Turning Titanium Alloy

The Prediction Model of Surface Roughness Based on Experimen...

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IEEE International Conference on Mechatronics and Automation

作者： Cuilei Yang Qingchun Zheng Yahui Hu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781509023974

The experiments of turning titanium alloy are carried out by using central composite design, the influences of cutting speed, feed rate and cutting depth on surface roughness are analyzed. The surface roughness prediction model is established based on the response surface method. The significance of the regression equation is validated and the influences of the cutting parameters on surface roughness are compared. The results show that: within the range of cutting parameters used in the experiments, the most significant parameter on surface roughness is given by feed rate, followed by cutting depth, and the cutting speed has minimal effect on surface roughness;the prediction model is significant. It can be used to select various suitable parameters before the machining processing to predict and control the surface roughness.

关键词： Titanium alloy Surface roughness Turning Parameters

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Calculations of the Acceleration of Centrifugal Loading on Adherent Cells

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IOP Conference Series: Materials Science and Engineering 2017年第1期224卷

作者： Kang Chen Yang Song Qing Liu Chunqiu Zhang Tianjin Key Laboratory of the Design Intelligent Control of the Advanced Mechatronical System School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China

Studies have shown that the morphology and function of living cells are greatly affected by the state of different high acceleration. Based on the centrifuge, we designed a centrifugal cell loading machine for the mechanical biology of cells under high acceleration loading. For the machine, the feasibility of the experiment was studied by means of constant acceleration or variable acceleration loading in the Petri dish fixture and/or culture flask. Here we analyzed the distribution of the acceleration of the cells with the change of position and size of the culturing device quantitatively. It is obtained that Petri dish fixture and/or culture flask can be used for constant acceleration loading by experiments; the centripetal acceleration of the adherent cells increases with the increase of the distance between the rotor center of the centrifuge and the fixture of the Petri dish and the size of the fixture. It achieves the idea that the general biology laboratory can conduct the study of mechanical biology at high acceleration. It also provides a basis for more accurate study of the law of high acceleration on mechanobiology of cells.

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Comparative Study of Two 2-RPU+SPR Parallel Manipulators

Comparative Study of Two 2-RPU+SPR Parallel Manipulators

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World Congress on intelligent Control and Automation

作者： Qiang Yan Bin Li Yangmin Li Xinhua Zhao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300191 China

ISBN: (纸本)9781467384155

A comparative study of two over-constrained 2-RPU+SPR parallel manipulators (PM) is studied in terms of workspace and transmission performance in this paper. The two 2-RPU+SPR PMs have identical kinematics limbs, but some differences exist in terms of the joints distribution. The kinematics, the workspace and the transmission performance are studied and simulation examples are presented to demonstrate the differences between the two PMs. This study provides insights into the two parallel manipulators with identical limbs but with different joints distribution.

关键词： Decision support systems TV intelligent control Automation Senior members

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The Frame Structure design of three Lifting Point Dummy ROV

The Frame Structure Design of three Lifting Point Dummy ROV

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2016 3rd International Conference on Materials Engineering,Manufacturing Technology and Control(ICMEMTC 2016)

作者： Xingwei Guo Jie Song Zhenzhong Liu Offshore Oil Engineering Co. Ltd. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology

Research the depth of 3000 m Work-Class ROV as mock object and develop a ROV for land test. This device is set three lifting point in the top. The rope connecting the front two lifting point is fixed, the rope connecting the rear lifting point change the length by motor. All of those lifting point are in order to achieve the function of forerake and hypsokinesis. The Dummy ROV can displace the real ROV to simulate the land construction, improve the efficiency of ocean construction and reduce the cost of experiment.

关键词： Lifting point dummy ROV frame structure

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The design of dummy ROV electric-drive seven functions manipulator

The design of dummy ROV electric-drive seven functions manip...

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2016 3rd International Conference on Materials Engineering,Manufacturing Technology and Control(ICMEMTC 2016)

作者： Zaiyu Chen Meina Guo Zhenzhong Liu Lianyu Zhao Offshore Oil Engineering Co. Ltd. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology

With the deepening of the Marine development, underwater constructing often need to use the ROV. In order to verify the construction scheme, ensuring construction efficiency, the staff will use ROV or Dummy ROV on land to simulate construction. As the main body of the ROV, the manipulator is the execution part of the system. It is the core of the whole system;all of the drive and control are around it. It references the mature underwater manipulator, and draw lessons from the domestic manipulator design experience. The design adopts electric drive, and the joints torque were calculated and simulated by the Solid Works motion analysis software.

关键词： Dummy ROV seven functions manipulator manipulator design

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design and kinematic simulation of a novel exoskeleton rehabilitation hand robot

Design and kinematic simulation of a novel exoskeleton rehab...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Weijie Zhang Jian Guo Jiange Gao Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The rehabilitation exoskeleton robot is more and more used in the assisting stroke patients in implementing rehabilitation training. In this paper, a novel exoskeleton hand robot which was driven by cable has been proposed to aim at helping varieties of paralyses patients recover motor function. This exoskeleton hand rehabilitation robot system mainly consists of exoskeleton hand robot, EEG system, motor controllers unit, some sensors and a workstation. And the hand exoskeleton mechanism was portable, wearable and adjustable for patients doing home rehabilitation training. Based on the parameters from human hand, the kinematic model of hand robot was established to be used in designing and the kinematic simulation experiments about this exoskeleton hand robot were done. Through the simulation software ADAMS (Automatic Dynamic Analysis of Mechanical systems), the parameters of position, angle velocity and angle accelerated velocity (PVA) of proximate inter-phalanger (DIP) distal inter-phalanger joint were simulated. And then, the movement situation of the DIP joint was obtained according to the data from the position encoder. So the velocity curve and accelerated velocity curve were obtained by calculating the actual position function derivation. The simulated results showed that this exoskeleton hand robot has high movement ability to finish the continuous passive motion (CPM). Beside that, a comparison test was done to verify whether there were some motion blocks in wearing exoskeleton robot. Through analyzing the experimental data, the error between the actual position and the simulated position of the PIP joint of the finger was very small which verified the small interference of robot. These experiments demonstrated that the exoskeleton hand robot has high efficiency movement ability for stroke patients who need to do the finger rehabilitation training. In the future, the optimization design of the exoskeleton hand robot will be done in order to improve more mov

关键词： Exoskeletons Thumb Robot sensing systems Joints Training

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Deep Difference Representation Learning for Multi-spectral Imagery Change Detection

Deep Difference Representation Learning for Multi-spectral I...

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2016 5th International Conference on Advanced Materials and Computer Science(ICAMCS 2016)

作者： Hui Zhang Puzhao Zhang Department of Integrated Circuit Design and Integrated System School of MicroelectronicsXidian University Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Xidian University

Change detection is an ongoing hot topic in multi-spectral imagery applications,how to exploit the available spectral information effectively for change detection is still an open *** the noise interference and redundancy of multi-spectral imagery,it is important and necessary to learn more abstract and robust feature from raw spectrums for change detection *** this paper,a deep difference representation learning model is proposed for multi-spectral change *** this model,two stacked denoising autoencoders are established,one for learning more abstract features from raw spectrums blocks,and the other for learning difference representations from the stacked change *** former is used to weaken noise interference and reduce redundancy,while the latter has the ability to highlight changes and suppress unchanged *** experimental results on real multi-spectral data demonstrate the feasibility,effectiveness and robustness of the proposed deep difference representation learning model on multi-spectral change detection task.

关键词： Change Detection Multi-Spectral Imagery Difference Representation Denoising Autoencoder Deep Learning

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design of the structural optimization for the upper limb rehabilitation robot

Design of the structural optimization for the upper limb reh...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Jiange Gao Jian Guo Weijie Zhang Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The exoskeleton robotic rehabilitation training system is a branch of the field of robotics, it is the external mechanical system that is consistent with the similar joints of the human body, and attached to the human body. With the development of exoskeleton rehabilitation robotic system, the biomechanics influence of device should be considered in rehabilitation training. This paper proposes a novel upper limb exoskeleton rehabilitation device based on biomechanics, which can be used in rehabilitation of upper limb for hemi paralysis patients. This system aims at helping hemi paralysis patients recover motor function of upper limb; in addition it is suitable for variety of patients. This system is portable and wearable, which consists of exoskeleton device, hepatic device (PHANTOM Premium), motor controllers and work station (computer). This paper proposes a structural optimization scheme in order to solve some problems of bowl's structure of the rehabilitation robot. The Pro/ENGINEER Wildfire (Pro/E) software is applied to get a three-dimensional modelling, kinematics simulation and dynamic analysis of the rehabilitation robot. From the analysis, the robot end motion simulation curves were obtained to verify the optimization structure reasonable and better motion characteristics. In the future, this structure will have a wide application prospect in the rehabilitation therapy field.

关键词： Robots Exoskeletons Wrist Jacobian matrices Gears Optimization Acceleration

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