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Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

Chinese Journal of Mechanical Engineering 2020年第4期33卷 63-76页

作者： Lihang Wang Shaofei Cui Chong Ma 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 066004China

The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying ***,the high-precision trajectory tracking control of the hydraulic parallel manipulator is challenged by the coupling dynamics of the parallel mechanism and the high nonlinearities of the hydraulic *** this study,the trajectory control of a 3-DOF symmetric spherical parallel 3UPS/S manipulator is *** on the highly coupling and nonlinear system dynamics,a compound impedance control method for a hydraulic driven parallel manipulator is proposed,which combines impedance control with the spatial motion characteristics of a parallel *** control strategy is divided into the inner and outer *** inner loop controls the impedance of the actuator in the joint space,and the outer loop controls the impedance of the entire platform in the task space to compensate the coupling of the actuators and improve the tracking accuracy of the moving *** impedance control does not require force or pressure sensors and is less dependent on modeling *** experimental results show that the compound impedance control effectively improves the tracking accuracy of the moving *** research proposes a compound impedance control strategy for a 3-DOF hydraulic parallel manipulator,which has high tracking precision with a simple and cheap system configuration.

关键词： Parallel manipulator Impedance control Hydraulic servo system Trajectory tracking

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Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

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Chinese Journal of Mechanical Engineering 2016年第6期29卷 1176-1185页

作者： ZHANG Lijie GUO Fei LI Yongquan LU Wenjuan Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

关键词： screw bond graph multi-energy domains 3-UPS/S parallel mechanism electro-hydraulic servo system

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Heat treatment and granule medium internal highpressure forming of AA6061 tube

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Journal of Central South University 2017年第5期24卷 1040-1049页

作者： BI Jiang ZHAO Chang-cai BI Meng-meng DU Bing CHEN Xiao-hua DONG Guo-jiang Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of Education of China Yanshan UniversityQinhuangdao 066004China State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China College of Vehicles and Energy Yanshan UniversityQinhuangdao 066004China

The new forming process of AA6061 alloy tube, including solution treatment, granule medium internal high-pressure forming and aging treatment, was developed. The AA6061 alloy tube via heat treatment satisfied the forming requirement, and the granule medium internal high pressure forming method for AA6061 alloy tube was also realized by using convenient implementation with low requirement of equipment and flexible design of product. At a solution temperature of 560℃ and time of 120 min, the elongation of the AA6061 extruded tube increases by 300% and the strength and the hardness dramatically decrease too. Therefore, the AA6061 alloy tube meets the requirement of internal high-pressure forming because of the improvement of formability. The experiments shows that the strength and hardness of AA6061 alloy workpiece recover to that of the as-received alloy at an aging temperature of 180℃ and time of 360 min, and the strength of AA6061 alloy workpiece is equal to the base alloy. The typical parts of convex ring tube, stepped shaft tube and hexagonal tube were successfully produced in lab by using the present forming method. The forming tests show that the maximum expansion ratio(MER) of the AA6061 extruded tube increases by 25.5% and the material properties of formed AA6061 alloy tube reached the performance of as-received alloy.

关键词： aluminum alloy tube solution treatment aging treatment granule medium internal high pressure forming

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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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Prediction of Critical Conditions for Dynamic Recrystallization in 316LN Austenitic Steel

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Journal of Iron and Steel Research International 2016年第3期23卷 238-243页

作者： Xin-gang LIU Li-ge ZHANG Rong-sheng QI Lei CHEN Miao JIN Bao-feng GUO Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China Yanshan University Library Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University

Hot compression experiments conducted on a Gleeble-3500thermo-mechanical simulator and metallographic observation tests were employed to study the critical conditions of dynamic recrystallization（DRX）of 316 LN austenitic stainless *** true stress-true strain curves of 316 LN were obtained at deformation temperatures ranging from 900℃to 1 200℃and strain rates ranging from 0.001s-1 to *** on the above tests,the critical conditions of DRX were determined and compared with those obtained from work-hardening theory and the Cingara-McQueen flow stress ***,the microstructure was observed to validate the calculated *** ratio of critical strain to peak strain（εc/εp）for 316 LN was determined,and the quantitative relationship between the critical strain and the deformation parameters of 316 LN was *** results demonstrated that the onset of DRX corresponds to the constant normalized strain hardening rate（Γ）,namely,the critical strain hardening rateΓcfor316LN is equal to 0.65.

关键词： 316LN austenitic stainless steel hot deformation dynamic recrystallization critical condition

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Design and analysis of truss deployable antenna mechanism based on a novel symmetric hexagonal profile division method

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Chinese Journal of Aeronautics 2021年第8期34卷 87-100页

作者： Jinwei GUO Yongsheng ZHAO Yundou XU Yongjie LI 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

As the deployment,supporting,and stability mechanisms of satellite antennas,space-deployable mechanisms play a key role in the field of *** order to design truss deployable antenna supporting mechanisms with large folding rate,high accuracy,easy deployment and strong stability,aiming at the geometric division of the parabolic reflector,a novel method based on symmetric hexagonal division and its corresponding modular truss deployable antenna mechanism is proposed,and the original method based on asymmetric triangular division and its corresponding mechanisms are presented for comparative ***,the screw theory is employed to analyze the mobility of different ***,the improved three-dimensional mesh method is used to divide the reflector surface of a large parabolic antenna designed by the two different methods,and the profile accuracy and the type of links are taken as the evaluation indexes to quantitatively analyze the division ***,a three-dimensional model of the modular deployable mechanism based on the symmetric hexagonal design is developed,and the deployable mechanisms with different configurations based on the two design methods are compared and analyzed from the mechanical *** research results provide a good theoretical reference for the design of deployable truss antenna mechanisms and their application in the aerospace field.

关键词： Mobility Modular mechanism Profile division Screw theory Truss deployable antenna

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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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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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Type synthesis of deployable mechanisms for ring truss antenna based on constraint-synthesis method

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Chinese Journal of Aeronautics 2020年第9期33卷 2445-2460页

作者： Bo HAN Yundou XU Jiantao YAO Dong ZHENG Luyao GUO 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 deployable antenna is the key equipment in realizing the communication and data transmission between the spacecraft and the *** order to enrich the configurations of deployable antennas,the type synthesis of deployable mechanisms for ring truss antenna is conducted in this ***,the principle of the constraint-synthesis method based on screw theory is briefly described,the structure of the ring truss deployable antenna and its folding principle are analyzed,and the ring truss mechanism is divided into upper edges,lower edges and ***,based on the constraint-synthesis method,the type synthesis of the basic unit edges is carried out,a series of basic unit mechanisms are obtained from combining the basic unit edge mechanisms,and five mechanism units with fewer joints and simple structures are ***,simulation models of the five ring truss deployable mechanisms are built in Solidworks and Matlab software,and the deploying process is verified by the movement ***,mechanism characteristics of the five mechanisms are analyzed and discussed,and a prototype is manufactured,verifying the analysis in this *** research provides a new way for the type synthesis of spatial deployable mechanisms,and the ring truss deployable mechanisms obtained in this study can be well applied in the field of aerospace.

关键词： Constraint-synthesis method Deployable mechanism Ring truss antenna Screw theory Type synthesis

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General Analytical Shakedown Analysis of a Structure Subjected to Combined Loading with Constant and Cyclic Loads

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Journal of Harbin Institute of technology(New Series) 2017年第3期24卷 67-75页

作者： Zongyuan Zou Baofeng Guo Miao Jin Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan UniversityQinhuangdao 066004 China

The shakedown behavior of structures subjected to a combined loading of constant and cyclic loads has been well *** some specified problems,shakedown limit loads have been ***,the general effect of combined loading on the structural shakedown has not yet been *** general analytic solution of the elastic shakedown limit load is thus derived for a structure subjected to combined ***'s extended static shakedown theorem for combined loading is *** stress field in equilibrium with the external constant load required in Polizzotto's extended theorem is constructed by subtracting the reference elastic stress field of the peak cyclic load from the elastic-plastic stress field of the combined constant load and peak cyclic *** shakedown condition of the stress field is then derived according to the extended *** the analytical analysis of the shakedown condition,the structural shakedown behavior under combined loading is investigated.A general solution of the shakedown limit load is then derived,and the effects of the combined loading on the shakedown behavior are *** obtained general analytical result is applied to a hollow tension specimen under constant tension and alternating torsion and a plate with a central hole under constant and cyclic *** results are consistent with the solutions reported in the literature.

关键词： elastic-plastic shakedown limit load general analytical solution combined loading

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