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Configuration Design and Size Optimization of a High-Precision Novel parallel Pointing Mechanism Based on Interference Separation

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Chinese Journal of Mechanical Engineering 2024年第5期37卷 365-386页

作者： Sen Wang Shihua Li Xueyan Han Jiahao Wei Xueyuan Gao Hongyu Xu Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China

Pointing mechanism is widely used in aerospace field,and its pointing accuracy and stability have high *** pointing mechanism will be affected by external interference when it *** order to eliminate the impact of interference forces on the output accuracy of the mechanism,firstly,this paper proposes a design method for highprecision pointing mechanisms based on interference separation,aiming at the high-precision pointing requirements of pointing *** on the screw theory,a synthesis method for inner compensation mechanisms has been *** a new type of double-layer parallel mechanism has been designed to compensate for interference ***,the kinematics and dynamics of the mechanism are carried *** evaluation index for compensating external interference forces is *** interference compensation analysis is conducted for the pointing *** correctness of the proposed interference force compensation coefficient is ***,in order to find the optimal solution for the workspace and interference force compensation coefficient of the pointing mechanism,multi-objective optimization design of the structural parameters of the mechanism was carried out based on the particle swarm optimization *** provides a theoretical basis for the prototype design of the subsequent double-layer parallel *** double-layer parallel mechanism combines the advantages of large load-bearing capacity,large workspace,and high output *** can be better applied in the aerospace field where high-precision pointing and force interference compensation are integrated.

关键词： Pointing mechanism Interference separation Double-layer parallel mechanism Force compensation coefficient Multi-objective optimization

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Kinematic analysis of the lifting mechanism of one forging manipulator 10

Kinematic analysis of the lifting mechanism of one forging m...

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

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

This paper analyzes the lifting mechanism of one forging manipulator. The lifting mechanism is a hybrid serial-parallel mechanism, composed of a parallel 4R mechanism and a parallel mechanism. At first, mobility properties of the lifting mechanism are analyzed based on screw theory. Then, position analysis of the lifting mechanism is carried out. Because the motions of lifting, pitching and back-and-forward translation are independent of the motions of left-and-right translation and yawing, the lifting mechanism can be divided into two independent mechanisms,i.e., position analysis of these two mechanisms can be carried out separately. Copyright © 2010 by the Japan Society of Mechanical Engineers.

关键词： Mechanisms

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Rotational axes analysis of the 2-RPU/ SPR 2R1T parallel mechanism 1

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20th CISM-IFToMM Symposium on Theory and Practice of robots and Manipulators, ROMANSY 2014

作者： Xu, Yundou Zhou, Shasha Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao Hebei066004 China

ISBN: (数字)9783319070582

ISBN: (纸本)9783319070575

This paper presents a novel 2-RPU/SPR 2R1T parallel mechanism, which has one translational degree of freedom (DOF) and two rotational DOFs. The properties of the rotational axes of the mechanism are analyzed by using screw theory, and the results show that the 2-RPU/SPR mechanism has two rotational continuous axes. The position analysis of the 2-RPU/SPR mechanism is also carried out. The proposed 2R1T mechanism has very simple kinematic model, which reduces difficulties in calibrating kinematic parameters. © Springer International Publishing Switzerland 2014.

关键词： Mechanisms

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Fully pre-stressed parallel structure six-axis force sensor 10

Fully pre-stressed parallel structure six-axis force sensor

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

作者： Yao, Jiantao Wang, Zhijun Hou, Yulei Wang, Hang Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao Hebei066004 China

In order to overcome the disadvantages of parallel structure six-axis force sensor with traditional sphere pair, four kinds of pre-stressed parallel structure six-axis force sensor using modified spherical pairs are proposed. The structure feature of the sensors are analyzed in comparison with the traditional Stewart platform-based sensor. The experimental study of static calibration of a sensor prototype is carried out, and the experiment results prove the superiority of the structure and the correctness of the theoretical analysis. Copyright © 2010 by the Japan Society of Mechanical Engineers.

关键词： Mechanics

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Analysis and simulation of parallel lifting mechanism for schnable car based on complex vector 2

Analysis and simulation of parallel lifting mechanism for sc...

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2nd International Conference on Applied mechatronics and Android robotics, ICAMAR 2014

作者： Zhao, Yan-Zhi Wang, Xiang-Nan Bai, Xue-Gang Ren, Yu-Bo Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University China Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9783038353119

The working conditional model of schnable car has been established and the principle of lifting mechanism has been analyzed. By complex vector method, we analyze the kinematics of the lifting mechanism and get the position, speed and acceleration curves of relevant objects under the lifting progress. We have a static analysis on lifting mechanism, and get the relationship curve of the cylinder’s force and generator’s mass by mathematical Calculation. Kinematics simulation test is proceeded by ADAMS. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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Motion Analysis and Simulation Verification of Novel Quadruped robot 12

Motion Analysis and Simulation Verification of Novel Quadrup...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Ju, Zhongjin Wei, Ke Xu, Yundou Yao, Jiantao Zhao, Yongsheng School of Mechanical Engineering Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

At present, quadruped robot has attracted more and more scholars' attention, quadruped robot with load capacity can help human beings to carry out special work. However, the current quadruped robot is not suitable for heavy load work in terms of joint arrangement. In this study, the degree of freedom (DOF) analysis and type synthesis of Quadruped robot with traditional 4-SRRR structure are studied, and a quadruped robot with 4-SPRR structure which is more suitable for load application is obtained. The kinematics of the proposed quadruped robot and the orientation adjustment in unstructured terrain are analyzed. Finally, the theoretical results were validated by simulation. The results show that the designed motion control algorithm can make the robot work normally and has a certain orientation adjustment ability. The study that has contributed to a novel quadruped robot. © 2022 IEEE.

关键词： Motion analysis

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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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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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Configuration Synthesis and Performance Analysis of 9‑Speed Automatic Transmissions

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Chinese Journal of Mechanical Engineering 2020年第3期33卷 97-117页

作者： Huafeng Ding Changwang Cai Ziming Chen Tao Ke Bowen Mao School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering and Electronic Information China University of Geosciences(Wuhan)Wuhan 430074China.

Current research of automatic transmission(AT)mainly focuses on the improvement of driving performance,and configuration innovation is one of the main research ***,finding new configurations of ATs is one of the main limitations of configuration *** the present study,epicyclic gear trains(EGTs)are applied to investigate mechanisms of 9-speed *** four kinematic configurations are proposed for automatic *** order to evaluate the performance of proposed mechanisms,the lever analogy method is applied to conduct kinematic and mechanical *** power flow analysis is conducted,and then transmission efficiencies are calculated based on the torque *** comparative analysis between the proposed and existing mechanisms is carried out where obtained results show that proposed mechanisms have reasonable performance and can be used in *** prototype of an AT is manufactured and the speed test is conducted,which proves the accuracy of analysis and the feasibility of proposed mechanisms.

关键词： Automatic transmission Epicyclic gear train Lever analogy Gear ratio Torque method

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Type Synthesis and Analysis of Rigid-Flexible Hybrid Stable Tracking robot on USV 23rd

Type Synthesis and Analysis of Rigid-Flexible Hybrid Stable ...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Erwei, Li Ruijie, Lu Tieshi, Zhao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao463400 China Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9789811993978

With the increasing demand for offshore USV-UAV cooperation, the autonomous safe landing of UAV on USV has become a key issue. The USV bears multi-dimensional swaying motion under the influence of wind, waves and currents when sailing, which poses a great challenge to the take-off and landing of UAV. Aiming at the above challenge, this paper proposes a stable tracking robot consisting a PM (parallel Mechanism) and a planar CDPM (Cable-Driven parallel Mechanism). Firstly, according to the DOF (degree of freedom) requirements of the stable tracking robot, a hybrid mechanism with 2R1T PM and 1R2T planar CDPM was constructed on the basis of the principle of DOF distribution and the existing mechanism. Secondly, the process of assisting the take-off and landing of the UAV was determined, and the kinematics and dynamics of the stable tracking robot were carried out based on the screw algebra. Finally, the simulation experiment of the rigid-flexible hybrid stable tracking robot to assist the take-off and landing of the UAV was carried out, which verifies the correctness of the kinematics and dynamics models established, and lays a foundation for the subsequent prototype design and control. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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