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Analysis of Vibration Characteristics of Electro-hydraulic Driven 3-UPS/S Parallel Stabilization Platform

Chinese Journal of Mechanical Engineering 2024年第6期37卷 212-224页

作者： Xiaoming Yuan Weiqi Wang Haodong Pang Lijie Zhang Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of EducationYanshan UniversityQinhuangdao 066004China

With the development of fluid-power transmission and control technology,electro-hydraulic-driven technology can significantly improve the load-carrying capacity,stiffness,and control accuracy of stabilization ***,compared with mechanically driven platforms,the stiffness and damping of the fluid,as well as the coupling effect between the fluid and the structure need to be considered for electro-hydraulic-driven parallel stabilization platforms,making the modal and dynamic response characteristics of the mechanism more *** the aim of solving the aforementioned issues,we research the electro-hydraulic driven 3-UPS/S parallel stabilization platform considering the hinge ***,the characteristic vibration equation of the mechanism is established using the virtual work ***,the variation characteristics of the natural frequency and the vibration response according to the position of the mechanism are analyzed based on the dynamic ***,the correctness of the model is verified by a modal test and Runge-Kutta *** study provides a theoretical basis for the dynamic design of electrohydraulic-driven parallel mechanisms.

关键词： Electro-hydraulic driven 3-UPS/S parallel stabilization platform Kinetic equation Vibration mode Vibration response Modal test

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Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 62-82页

作者： Xuejian Ma Zhenghe Xu Yundou Xu Yu Wang Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining ***,there is a lack of an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design *** is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design *** the operational status of 2R1T PMs,the bending and torsional stiffness are considered as indices to evaluate PMs'configuration ***,a specific method is proposed to calculate these stiffness ***,the various types of structural and driving stiffness for each branch are assessed and their specific values ***,a rigid-flexible coupled force model for the over-constrained 2R1T PM is established,and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire ***,the driving force and constraint force of each branch in the whole working space are calculated to further elucidate the stiffness evaluating results by using the proposed method *** obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x and y-directions are larger than the other four mechanisms.

关键词： Parallel mechanism Stiffness Over-constrained Three degrees of freedom

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Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism

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Defence technology（防务技术） 2023年第6期24卷 399-413页

作者： Bo Han Xiangkun Li Jian Sun Yundou Xu Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China

As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel *** this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the *** analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one *** and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation *** on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB *** addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole *** mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

关键词： Scissors mechanism Deployable antenna Screw theory Kinematic analysis Dynamic analysis

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Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 292-304页

作者： Jinwei Guo Yongsheng Zhao Bo Chen Guoxing Zhang Yundou Xu Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao066004China

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains *** the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is *** equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb *** relationship between the constraint wrench magnitudes and the external force,limb stiffness is *** equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility ***,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is *** with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is ***,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is *** research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.

关键词： Active overconstrained Passive overconstrained Passive-input overconstrained Equivalent stiffness Force distribution

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Configuration Synthesis and Lightweight Networking of Deployable Mechanism Based on a Novel Pyramid Module

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Chinese Journal of Mechanical Engineering 2023年第4期36卷 294-310页

作者： Jinwei Guo Jianliang He Guoxing Zhang Yongsheng Zhao Yundou Xu School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang 212100China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Deployable mechanism with preferable deployable performance,strong expansibility,and lightweight has attracted much attention because of their potential in aerospace.A basic deployable pyramid unit with good deployability and expandability is proposed to construct a sizeable deployable ***,the basic unit folding principle and expansion method is *** configuration synthesis method of adding constraint chains of spatial closed-loop mechanism is used to synthesize the basic ***,the degree of freedom of the basic unit is analyzed using the screw theory and the link dismantling ***,the three-dimensional models of the pyramid unit,expansion unit,and array unit are established,and the folding motion simulation analysis is carried *** on the number of components,weight reduction rate,and deployable rate,the performance characteristics of the three types of mechanisms are described in ***,prototypes of the pyramid unit,combination unit,and expansion unit are developed to verify further the correctness of the configuration synthesis based on the *** proposed deployable mechanism provides aference for the design and application of antennas with a large aperture,high deployable rate,and *** has a good application prospect in the aerospace field.

关键词： Pyramid unit Deployable mechanism Configuration synthesis Structural design Lightweight networking

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Development of a Wearable Upper Limb Rehabilitation Robot Based on Reinforced Soft Pneumatic Actuators

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 182-190页

作者： Xinbo Chen Shuai Zhang Kaibin Cao Chunjie Wei Wumian Zhao Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily *** the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper *** upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor *** this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was *** by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow *** this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied *** results provide a reference for the development and application of wearable upper limb rehabilitation *** experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical *** process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation *** work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.

关键词： Upper limb rehabilitation Reinforced soft pneumatic actuator Wearable rehabilitation robot Motion analysis

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Innovative design and optimization of a two-dimensional deployable nine-grid planar antenna mechanism with a flat reflection surface

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Chinese Journal of Aeronautics 2023年第11期36卷 529-550页

作者： Bo CHEN Ze JIANG Xinlu WEI Luyao GUO Xin ZHOU Yundou XU Junjie QIAN Yongsheng ZHAO Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.Ltd Shanghai 201109China Aerospace System Engineering Shanghai Shanghai 201109China

With the development of the aerospace industry,space missions are becoming more complicated and diversified,and there is a demand for antenna mechanisms with a larger physical *** this paper,a planar deployable mechanism is proposed,which can form a flat reflection surface with a small gap between *** this end,a novel large-scale two-dimensional deployable nine-grid planar antenna mechanism is ***,two antenna folding schemes and four supporting mechanism schemes are *** comparison analysis,the antenna configuration scheme with the best comprehensive performance is selected.A kinematic model of the deployable mechanism is established,and its kinematic characteristics are ***,the correctness of the kinematic model is verified by comparing the analytical and simulation results of the kinematic ***,a finite element model of the antenna is *** on the response surface method,the structural parameters of the support rods of the antenna are optimized,and a set of optimized solutions with lightweight and high fundamental frequency characteristics are ***,a prototype of the proposed nine-grid planar antenna is *** feasibility of the deployment principle and the rationality of the designed mechanism are verified by deployment experiments.

关键词： Design optimization Kinematics Planar antenna Structural design Two-dimensional expansion

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Microstructure,mechanical properties and multiphase synergistic strengthening mechanisms of a novel laser additive manufactured AlNi6TiZr alloy

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Journal of Materials science & technology 2024年第11期178卷 59-69页

作者： Jiang Bi Liukun Wu Zeqi Liu Haixiang Wang Shide Li Ji Wang Zhuoyun Yang Nannan Lu Xi Chen Mikhail Dmitrievich Starostenkov Guojiang Dong Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of Education Yanshan UniversityQinhuangdao 066004China CITIC Dicastal Co. Ltd.Qinhuangdao 066004China Institute of Metal Research Chinese Academy of SciencesShenyang 110016China National Key Laboratory for Precision Hot Processing of Metals Harbin Institute of TechnologyHarbin 150001China General Physics Department Altai State Technical UniversityLeninist.46Barnaul 656099Russia

In this work,selective laser melting(SLM)process is used to prepare the AlNi6TiZr *** analyzing the printing quality and mechanical properties of the printed specimens with different process parameters,the SLM forming window of AlNi6TiZr is *** relative density of the sample printed with 270 W-1100 mm/s(laser energy density:82 J/mm3)reaches 99.7%,exhibiting excellent mechanical properties(yield strength(YS):421.7 MPa;ultimate tensile strength(UTS):480.4 MPa).After an aging treatment of 325 ℃-12 h,the YS and UTS of the sample increased to 494 MPa and 550.7 MPa,*** Ni,Ti,and Zr components promoted the generation of multi-phase precipitates in the Al alloy and improved the synergistic strengthening effect of *** hard-shell structure(HSS)formed by the Al_(3)Ni phase at the grain boundary significantly strengthened the grain boundary *** precipitated Al_(3)(Ti,Zr)phases at the grain boundaries prevent grain growth and dislocation *** Al_(3)Ni and Al_(3)(Ti,Zr)phases have good thermal stability that can still maintain excellent enhancement effects at high ***6TiZr alloy has great application prospects in medium and high-temperature environments.

关键词： Selective laser melting Al6NiTiZr alloy Microstructure Mechanical properties Thermal stability Strengthening mechanism

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Effect of axial preloading on mechanical behavior during the free-end torsion of an extruded AZ31 magnesium alloy

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International Journal of Minerals,Metallurgy and Materials 2022年第7期29卷 1351-1360页

作者： Qun Li Dan Meng Zhichang Fu Hui Zhao Chong Yang Yan Peng Baodong Shi Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of Education School of Mechanical EngineeringYanshan UniversityQinhuangdao 066004China National Engineering Research Center for Equipment and Technology of Cold Rolled Strip School of Mechanical EngineeringYanshan UniversityQinhuangdao 066004China State Key Laboratory of Metastable Materials Science and Technology Yanshan UniversityQinhuangdao 066004China

Large plastic deformation commonly occurs during the practical forming process in *** with uniaxial tension/compression,torsion is a more effective approach to investigate mechanical behavior under large *** response of the large strain torsion of magnesium alloy is sensitive to the initial texture and ***,an extruded AZ31 alloy was pre-stressed in tension and compression to introduce dislocations and twins in the current ***,torsion tests were conducted to clarify the effects of twinning and dislocation on subsequent deformation *** corresponding microstructure and deformation mechanisms were explored on the basis of viscoplastic self-consistent(VPSC)*** experimental observations on stress-strain responses and pole figures were captured by simulation *** was found that twins make less contribution to plastic deformation,which results in small change in texture direction under pure torsion and torsion after *** activity of the slip/twin system and the mechanical properties are affected by different initial textures and active conditions of the ***,the stress state during combined tension-torsion loading benefits the reduction of texture intensity.

关键词： magnesium alloy torsion twinning dislocation texture viscoplastic self-consistent

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Theoretical Model of Dynamic Bulk Modulus for Aerated Hydraulic Fluid

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 183-193页

作者： Xiaoming Yuan Weiqi Wang Xuan Zhu Lijie Zhang Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao 066000China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Existing models of bulk modulus for aerated hydraulic fluids primarily focus on the effects of pressure and air fraction,whereas the effect of temperature on bulk modulus is *** on the lumped parameter method and the full cavitation model,combined with the improved Henry’s law and the air polytropic course equation,a theoretical model of dynamic bulk modulus for an aerated hydraulic fluid is *** effects of system pressure,air fraction,and temperature on bulk modulus are investigated using the controlled variable *** results show that the dynamic bulk modulus of the aerated hydraulic fluid is inconsistent during the compression *** the same pressure point,the dynamic bulk modulus during expansion is higher than that during *** the same initial air faction and pressure changing period,a higher temperature results in a lower dynamic bulk *** the pressure is lower,the dynamic bulk modulus of each temperature point is more similar to each *** comparing the theoretical results with the actual dynamic bulk modulus of the Shell Tellus S ISO32 standard air-containing oil,the goodness-of-fit between the theoretical model and experimental value at three temperatures is 0.9726,0.9732,and 0.9675,which validates the theoretical *** this study,a calculation model of dynamic bulk modulus that considers temperature factors is *** predicts the dynamic bulk modulus of aerated hydraulic fluids at different temperatures and provides a theoretical basis for improving the analytical model of bulk modulus.

关键词： Aerated hydraulic fluid Dynamic bulk modulus Theory model Air fraction pressure

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