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Novel Mobility Formula for parallel Mechanisms Expressed with Mobility of General Link Group

Chinese Journal of Mechanical Engineering 2013年第6期26卷 1082-1090页

作者： ZHANG Yitong LU Wenjuan MU Dejun YANG Yandong ZHANG Lijie ZENG Daxing Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University

The determination of virtual constraints is always one of the key and difficult problems in traditional mobility calculation. To make mobility calculation simple, considering avoiding virtual constraints, some new formulae have been presented, however these formulae can hardly intuitively reflect general link group＇s restrictions on output member and its influences on independence of output parameters, which is premise to the judgment of the properties of mobility. Towards the problem to reveal the intrinsic relationship between the degree of freedom（DOF） of a mechanism, the link group, and the dimension of output parameters, also to avoid determination of virtual constraint, based on the new concepts of the ＂DOF of general link group＂ and ＂node parameters＂, a new formula in the calculation of the mobility of mechanisms is presented that is expressed with DOFs of the general link groups and rank of motion parameters of base point of the output link. It is named GOM（mobility of groups and output parameter） formula. On the basis of new concepts of＂effective parameters＂ and ＂invalid parameters＂, a rule is put forward for solving the DOF of mechanisms with invalid parameters by GOM formula, that is, the base point parameters are the subset of effective parameters of link group. Thereafter, several examples are enumerated and the results coincide with the prototype data, which proves the validity of the proposed formula. Meanwhile, it is obtained that the necessary and sufficient condition for the judgment of output parameters independence is that each of the DOF of the link group is not less than zero. The proposed formula which is simple in calculation provides theoretical basis for the judgment of independence of output parameters and provides references for type synthesis of novel parallel mechanisms with independence requirements of their output parameters.

关键词： parallel mechanism degree of freedom general link group output parameters

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Design and analysis of a multi-joint lower limbs rehabilitation robot

Design and analysis of a multi-joint lower limbs rehabilitat...

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International Conference on Advanced mechatronic systems (ICAMechS)

作者： Hongbo Wang Fuhai Deng Lingxue Ren Xiaohua Shi Hao Zhang Liyu Xie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China

This paper presents a multi-joint lower limbs rehabilitation robot with three degrees of freedom. The robot includes seat, left mechanical leg, right mechanical leg and electric control box, and each mechanical leg includes the hip joint, knee joint and ankle joint which correspond to the hip joint, knee joint and ankle joint of human. The mechanical structure of the rehabilitation robot is described. By adjusting the seat angle, the patient can do the rehabilitation training in different postures. However, when the posture of human upper body changes with the elevation of the seat, the swing limit position of human thigh also changes. In order to guarantee the safety of patients, the mechanical limit of hip joint is designed to be variable. Therefore, the workspace of the robot is also variable. The inverse kinematics and variable workspace of the rehabilitation robot are analyzed. The trajectory planning for the variable workspaces is discussed and the flow chart of the trajectory planning is given.

关键词： Joints robots Trajectory Hip Training Equations Knee

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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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The stability performances improvement through kinematic and dynamic modeling of the hopping robots 10

The stability performances improvement through kinematic and...

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10th UKACC International Conference on Control, CONTROL 2014

作者： Bruja, Adrian Vladareanu, Luige Yu, Hongnian Wang, Hongbo Liu, Jingjing Bucharest Romania School of Design Engineering and Computing Bournemouth University Poole DorsetBH12 5BB United Kingdom Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Lab. of Adv. Forging and Stamping Technol. and Sci. of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (纸本)9781479950119

The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind speed which can prevent our robot to reach the desired destination, and compensated with an initial velocity on the direction of movement. For testing we designed a simulation which had as inputs different initial conditions to test and present the jumping capability of our robot in different jumping conditions. In the end we provide a jump area which the robot can reach for certain initial conditions, so we can later chose the optimal one for reaching the target position. © 2014 IEEE.

关键词： Machine design

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Research on the lower limb gait rehabilitation

Research on the lower limb gait rehabilitation

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IEEE International Conference on mechatronics and Automation

作者： Hongbo Wang Jianshuang Wu Yubo Wang Lingxue Ren Dong Zhang Hao Lu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (纸本)9781479939800

This paper proposes a lower limbs gait rehabilitation machine which is used to help the patients to recover walking ability of lower limbs. The machine includes left leg gait training mechanism and right leg gait training mechanism, and each mechanism consists of a four-bar mechanism with one degrees of freedom and a foot plate. Since the crank of the four-bar mechanism on the both sides is driven by one motor and each foot plate on the both sides is driven by one motor, the robot has three degrees of freedom. The robot can simulate human walking to achieve the purpose of recovering walking function. In this paper, the design idea and parameter optimization are described, the kinematics and dynamics are analyzed, and the virtual prototype design and simulation are done. The simulation results can be further applied for the optimization of the mechanical parameters while supplying necessary data and building a theoretical foundation for subsequent research.

关键词： Training Trajectory Legged locomotion Foot Force Equations

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Roller straightening process and FEM simulation for stainless steel clad plate

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Open Mechanical Engineering Journal 2014年 8卷 557-561页

作者： He-Ong, Jin Ya-Li, Yi Xue-Yan, Han Yan, Liang Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China

Based on elasto-plastic deformation straightening theory and adopting 11 rolls plate straightening mode, the isothermal residual curvature straightening process is proposed for stainless steel clad plate. The straightening mathematical model is established to realize plate shape finishing and stress reforming. By using finite element analysis software, establishing straightening process and determining intermesh, the effects of intermesh on shape and residual stress are analyzed. The results indicate that the straightening process meet the finishing plainness of stainless steel clad plate after rolling. Longitudinal residual stress of the clad plate is evenly distributed across width. The cladding plate and steel substrate are symmetrical and the ascent of stress near the edge is greater. Longitudinal residual stress across length is distributed with the wave of pull-press-pull and the cladding plate and base plate are symmetrical. The above researches are based on the previous theory of the application of stainless steel clad plate straightening technology. © 2014, He-Rong et al.;Licensee Bentham Open.

关键词： Stainless steel

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Research on a kind of leg-wheel stair-climbing wheelchair

Research on a kind of leg-wheel stair-climbing wheelchair

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IEEE International Conference on mechatronics and Automation

作者： Hongbo Wang Li He Qi Li When Zhang Dong Zhang Peng Xu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei Province China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao Hebei Province China

ISBN: (纸本)9781479939800

A kind of leg-wheel stair-climbing wheelchair is proposed. The device adopts a leg-wheel composite structure. Both leg type and wheel type can achieve the function of climbing stairs independently, but together they complement each other nicely to strengthen the performance. Stair climbing is completed by coordinating the movement of the legs and the mobile system. There are two control schemes proposed in the control system. Two different kinds of motors, including DC servo motors and DC motors, are controlled. The device has simple operation and good performance which can realize the free conversion from ground model to stair model.

关键词： Conferences mechatronics Automation

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Applicability and Generality of the Modified Grübler-Kutzbach Criterion

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Chinese Journal of Mechanical Engineering 2013年第2期26卷 257-263页

作者： LI Yanwen WANG Lumin LIU Jingfang HUANG Zhen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University College of Environment and Chemical Engineering Yanshan University College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology

A generally applicable criterion for all mechanism mobility has been an active domain in mechanism theory lasting more than 150 years. It is stated that the Modified Grübler-Kutzbach criterion for mobility has been successfully used to solve the mobility of many more kinds of mechanisms, but never before has anyone proven the applicability and generality of the Modified Grübler-Kutzbach criterion in theory. In order to fill the gap, the applicability and generality of the Modified Grübler-Kutzbach Criterion of mechanism mobility is systematically demonstrated. Firstly, the mobility research background and the Modified Grübler-Kutzbach criterion are introduced. Secondly, some new definitions, such as half local freedom, non-common constraint space of a mechanism and common motion space of a mechanism, etc, are given to demonstrate the correctness and broad applicability of the Modified Grübler-Kutzbach criterion. Thirdly, the general applicability of the Modified Grübler-Kutzbach criterion is demonstrated based on screw theory. The mobilities of the classical DELASSUS mechanisms and a modern planar parallel mechanism, are determined through the Modified Grübler-Kutzbach criterion, which are as examples to show the practical application of the Modified Grübler-Kutzbach criterion.

关键词： mobility screw theory classical mechanism parallel mechanism

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Type synthesis and forward displacement analysis of parallel manipulator with two equivalent composite universal joints

Journal of Mechanical Engineering Research and Developments

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Journal of Mechanical Engineering Research and Developments 2014年第2期37卷 58-70页

作者： Lu, Y. Liu, Y. Dong, Y.S. College of Mechanical Engineering Yanshan University Qinhuangdao Hebei China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Lab. of Adv. Forging and Stamping Technol. and Sci. of Min. of Natl. Educ. Qinhuangdao Hebei China

The parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized and a closed forward displacement analysis is performed for a novel 5-DoF parallel manipulator (PM) with 2 equivalent composite universal joints Ue. First, ten novel parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized. Second, the kinematic model of a 5-DoF 4SPS+SPR PM with 2 composite spherical joints Sc are established. Third, the novel 5-DoF PM with 2Ue is created based on 4SPS+SPR PM by replacing each of 2Sc with Ue, and the formulae are derived for solving forward displacement of the proposed 5-DoF PM with 2Ue. Finally, an analytic example is given for solving the forward displacement of proposed 5-DoF PM with 2Ue, and the analytic solved results are verified by the simulation mechanism using CAD variation geometry.

关键词： Kinematics

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Application of parallel Mechanism in Varistructured Quadruped/Biped Human-carrying Walking Chair robot

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International Journal of Automation and computing 2013年第5期10卷 447-454页

作者： Ling-Feng Sang Hong-Bo Wang Dian-Fan Zhang Zhen-Hua Tian Fu-Hai Deng De-Lei Fang 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 Science and Technology Research Institute Yanshan University

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is *** proposed robot could be used as biped and quadruped walking chair *** the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,*** the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism *** motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are ***,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is ***,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to *** study provides a theoretical foundation for the prototype development.

关键词： Human-carrying walking chair robot parallel leg mechanism degree of freedom varistructure workspace kinematics

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