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UKACC International Conference on Control (CONTROL)

作者： Jingjing Liu Hongbo Wang Hongnian Yu Lili Zhang Luige Vladareanu Adrian Bruja Gal I. Alexandru Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China College of Electrical Engineering Yanshan University Qinhuangdao China School of Design Engineering and Computing Bournemouth University Poole UK Robotics and Mechatronic Department Institute of Solid Mechanics Bucharest Romania

In recent years many researchers are trying to combine wheeled movement with legged movement or hopping movement to strengthen the robots adaptability to environment. Hybrid robots are playing a more and more important role in our modern life. However, their controls are mostly complicated. So in this paper we present a new solution for the wheeled hopping robot. Based on the mechanical design, this robot has two movement modes: wheeled and hopping movement mode. While the center of gravity of the mechanism is under the wheels center, the wheeled hopping robot which is like a tumbler can keep its stability even when the wheels' velocity is zero. In this paper, we firstly introduce the description and design of the wheeled hopping robot. Then we explain how to choose the robot parameters and lastly we describe, how the robot through hopping, successfully traverses obstacles and ditches.

关键词： Mobile robots Shafts Wheels Springs robot kinematics Force

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

The stability performances improvement through kinematic and...

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UKACC International Conference on Control (CONTROL)

作者： Adrian Bruja Luige Vladareanu Gal Ionel Alexandru Hongbo Wang Hongnian Yu Jingjing Liu Institute of Solid Mechanics of Romanian Academy (IMSAR) Bucharest Romania School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

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.

关键词： Mobile robots Springs Wheels Trajectory Collision avoidance Shafts

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Kinematics and Dynamics Analysis of a Quadruped Walking robot with parallel Leg Mechanism

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 881-891页

作者： WANG Hongbo SANG Lingfeng HU Xing ZHANG Dianfan YU Hongnian 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 Xi’an University of Architecture and Technology Science and Technology Research Institute Yanshan University School of Design Engineering and ComputingBournemouth University

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,***,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple ***,Improvement of enhancing capacity and functions of the walking robot is an important research *** to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is *** proposed robot can be used for both a biped and a quadruped walking *** kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are *** results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,*** on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk *** laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

关键词： walking robot parallel leg mechanism kinematics dynamics over-determinate inputs

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Kinematics and statics analysis of a novel 4-dof parallel manipulator with two SPS legs and a PUP composite leg

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ICIC Express Letters 2014年第12期8卷 3445-3451页

作者： Lu, Yi Zhang, Xiuli Hu, Bo College of Mechanical Engineering No. 438 West Hebei Street Qinhuangdao China Hebei Vocational and Technical College of Building Materials Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province No. 438 West Hebei Street Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University No. 438 West Hebei Street Qinhuangdao China

A novel 4-degree of freedom parallel manipulator with two spherical joint-prismatic joint-spherical joint (SPS) active legs and a prismatic joint-universal joint-prismatic joint (PUP) composite leg is proposed and its kinematics and statics are studied. 1. Its structure constraint is analyzed, and formulae for solving the inverse displacement are derived. 2. The formulae for solving velocity, acceleration and active/constrained forces are established. 3. A workspace is constructed. 4. The analytic results are verified by its simulation mechanism. © 2014.

关键词： Kinematics

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion robot sensing systems Impedance Force

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Research and application of dual drive synchronous control algorithm

Research and application of dual drive synchronous control a...

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2012 International Conference on Information Technology and Software Engineering, ITSE 2012

作者： Jin, Herong Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Ministry of Education of China 438 Hebei Avenue Qinhuangdao 066004 China

ISBN: (纸本)9783642345272

According to the real time rapidity characteristic of generalized predictive control, dual drive control synchronous subsystem based on generalized predictive is designed. Based on coordinated control principle, a fuzzy controller is added between the channels of two drive subsystems. Aiming to minimize the cor-responding state difference of two subsystems, control scheme with synchronous error non-equal common feedback fuzzy correction is adopted, which keep the output of two synchronous subsystems consistent, improve the response speed of synchronous error to system, and reduce the synchronous error of two drive sub-systems effectively. The simulation results show that synchronous control strategy presented in this paper improve the response speed of synchronous error to system, reduce the synchronous error of two motors effectively, and provide advantageous guarantee for the high precision of large rotary dual drive synchronous systems. © 2013 Springer-Verlag.

关键词： Feedback

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Research on the Relationship between Classic Denavit-Hartenberg and Modified Denavit-Hartenberg

Research on the Relationship between Classic Denavit-Hartenb...

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International Symposium on Computational Intelligence and Design, ISCID

作者： Hang Wang Hanghang Qi Minghui Xu Yanhua Tang Jiantao Yao Xuedong Yan Ming Li Shanghai University Haitian Plastics Machinery Ltd. Ningbo HAITIAN Drive Systems Co. Ltd. Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Department of Chemistry Northeast Normal University NINGBO VEKEN BATTERY CO. LTD

ISBN: (纸本)9781479970063

Currently, homogeneous transformation method has been widely used for its advantages in robot. Its more commonly used modeling methods are classic Denavit-Hartenberg method and modified Denavit-Hartenberg method, but the relationship between the two is very few devoted. Then, the use area is limited. Therefore, the relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method for robotics research has important practical significance. Based on this, the geometric representations of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method are described respectively, the models of link parameters are built by the two, and the corresponding transformation matrix is deduced. The relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is researched deeply, and the relational expression of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is obtained. The research results of this paper are useful for the robot kinematics, dynamics and control algorithms.

关键词： Joints Kinematics Heuristic algorithms Service robots robot kinematics mechatronics

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Innovation design and operation control method of the minimally invasive vascular interventional surgery robot system

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BioTechnology: An Indian Journal 2013年第12期8卷 1604-1613页

作者： Xue, Yang Hongbo, Wang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao 066004 China

A novel minimally invasive vascular interventional surgery robot system is proposed. The system includes a positioning arm, a catheter interventional device and its manipulation *** operation control method for the positioning arm is presented, which is to drag a six-dimensional force sensor fixed on the end of the arm. A six-dimensional force signal will be outputted and transformed into a position and orientation matrix respective to the positioning arm. A fictitious joint is added to the arm with five-degree of freedom (DOF) in accordance with certain principles to change it into a six-DOF configuration. Using the obtained position and orientationmatrix to do inverse kinematic of the six-DOFmechanism, the inverse kinematic of the five-DOF mechanism can be obtained. Take these values as position control commands to the corresponding jointmotors to realize the motion control of the positioning *** example is given to verify the correctness of the proposed method. A master-slave system composed by a catheter interventional device and its manipulation device is proposed. The corresponding actions of every operation states and the master-slave control principle are given. The mapping relations between the displacement distances of the manipulation handle and the promoting finger and between the rotation angles of the handle wheel and the catheter/guide wire are described. By setting different proportionality coefficients, themulti-gear control can be *** the help of master-slave operational method, the doctors can do operations outside the operation room to protect themselves from radiation. Moreover, the systemcan realize force feedback which can help the operator to have force telepresence and to increase the sense of reality and immersion. © 2013 Trade Science Inc. - INDIA.

关键词： Degrees of freedom (mechanics)

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Comparative analysis of two typical mechanisms of forging manipulator

Comparative analysis of two typical mechanisms of forging ma...

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2010 International Conference on Mechanic Automation and Control Engineering, MACE2010

作者： Xu, Yundou Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao China

ISBN: (纸本)9781424477388

Kinematics and statics of two typical mechanisms of forging manipulator are analyzed based on mechanism theories and the principle of virtual work in this paper. The biggest driving forces/torques that each hydraulic cylinder need of both mechanisms are compared. Consequently, a better mechanism of forging manipulator is chosen. ©2010 IEEE.

关键词： Jacobian matrices

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Kinematics and singularity analysis of a novel 6-PUS/UPU parallel mechanism 10

Kinematics and singularity analysis of a novel 6-PUS/UPU par...

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10th International Conference on Motion and Vibration Control, MOVIC 2010

作者： Duan, Yanbin Liang, Shunpan Jiang, Junxiang Zeng, Daxing Zheng, Kuijing Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao Hebei China

In this paper, a novel 6-PUS/UPU parallel mechanism is presented. The mechanism exhibit advantageous characteristics such as higher rigidity, better positioning accuracy and can be used in the fields of vision measure, force control and redundant research. At first, kinematics analysis of the parallel mechanism is carried out;constrained wrench of the moving platform imposed by the middle limb UPU is obtained. Then, singularity analysis is performed. Copyright © 2010 by the Japan Society of Mechanical Engineers.

关键词： Kinematics

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