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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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Design and analysis of a truss deployable antenna mechanism based on a 3UU-3URU unit

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Chinese Journal of Aeronautics 2019年第12期32卷 2743-2754页

作者： Yundou XU Jinwei GUO Luyao GUO Wenlan LIU Jiantao YAO 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 College of Energy and Power Engineering Lanzhou University of TechnologyLanzhou 730050China

Space deployable structures with large calibers, high accuracy, and large folding ratios are indispensable equipment in the aerospace field. Given that the single-DOF 3 RR-3 RRR deployable unit cannot be fully folded, this study proposes a 3 UU-3 URU deployable unit with two kinds of DOF: folding movement and orientation adjustment. First, based on the G-K formula, the DOF of the 3 UU-3 URU unit is analyzed. Then, the 3 UU-3 URU unit is used to construct a deployable truss antenna with a curved surface, and the DOF of the whole deployable antenna containing multiple 3 UU-3 URU units is calculated. The structural design of a deployable antenna with two loops is carried out with specific parameters and geometric relations. Next, a DOF simulation of a basic combination unit composed of three 3 UU-3 URU units is performed. Finally, a prototype of the basic combination unit is manufactured, and the DOF of the mechanism is experimentally verified.

关键词： Basic combination unit Degree of freedom(DOF) Deployable truss antenna Simulation analysis Structural design

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Mechanism Design and Walking Stability Study of (2UPS-U) +R Series-parallel Hybrid Bionic Wheel-Legged Quadruped robot

Mechanism Design and Walking Stability Study of (2UPS-U) +R ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Shanshan Wang, Hongbo Li, Dong Li, Minghao Li, Lianqing Tian, Yu Niu, Jianye Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Qinhuangdao066004 China Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Key Lab. of Advanced Forging Stamping Technology and Science of Ministry of Education of China Qinhuangdao066004 China

ISBN: (纸本)9798350325706

In this paper, a bionic-based design of a series-parallel hybrid wheel-legged quadruped robot that can realize wheel-foot transformations is presented to achieve footed stable walking, and a method of measuring the static stability of the robot by the evaluation of the torque of the supporting leg rotor axis is proposed with the consideration of the robot's leg mass. Firstly, the whole robot position is solved;Secondly, the force on the robot during static walking is analyzed, and the stability of its static walking is also analyzed from the moment perspective;Finally, the stabilizing support region for static walking is solved, and the stabilizing support region for the robot in such a motion state is calculated. This paper provides high reference significance and value for the mechanism design and walking stability research of series-parallel hybrid wheel-legged quadruped robots. © 2023 IEEE.

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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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Measuring limitation analysis of six-axis wrist force sensor based on screw theory 4

Measuring limitation analysis of six-axis wrist force sensor...

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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Wang, Zhi Jun Liu, Wan Yu He, Jing Li, Zhan Xian Zhao, Yong Sheng College of Mechanical Engineering Hebei United University Tangshan China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

When robot do contact operation task to unknown environment, it often need wrist force sensor to check contact force information between robot and environment then judge the contact state, and check the information feedback to control system for completing operation smoothly. This paper analyze the measure theory of robot end wrist six-axis force sensor based on screw theory, propose and verify the limitation of six-axis wrist force sensor for measuring the six-dimensional force online. © (2014) Trans Tech Publications, Switzerland.

关键词： robots

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Optimum Seeking of Redundant Actuators for M-RCM 3-UPU parallel Mechanism

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Chinese Journal of Mechanical Engineering 2021年第6期34卷 373-384页

作者： Chen Zhao Jingke Song Xuechan Chen Ziming Chen Huafeng Ding School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China School of Mechanical Engineering and Electronic Information China University of Geosciences(Wuhan)Wuhan430074China

The singularity problem brings troubles to the design and application for the parallel ***,redun-dant actuation is one of the useful methods to solve this singularity ***,faced to the numerous joints in a parallel mechanism,how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open *** paper focuses on a 2R1T 3-UPU(U for universal joint and P for prismatic joint)parallel mechanism(PM)with two rotational and one translational(2R1T)degrees of freedom(DOFs)and the ability of multiple remote centers of motion(M-RCM).The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singular-ity,constraint singularity,mixed singularity and limb *** solve these singular problems,the quantifiable redundancy transmission index(RTI)and the redundancy constraint index(RCI)are proposed for optimum seeking of redundant actuators for this *** the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the *** research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.

关键词： parallel mechanism 2R1T RCM Singularity Redundant actuation

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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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Influence of structure parameters on the permanent magnetic planetary gear forced vibration frequency response 4

Influence of structure parameters on the permanent magnetic ...

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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Zhu, Xue Jun Xu, Li Zhong Yanshan Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

The time and frequency forced responses for the permanent magnetic planetary gear drive were computed and analyzed. The influence of magnetization intensity and pole pair number to frequency forced responses is discussed. Results show that the dynamic displacement when only considering output excitation is larger than that when only considering input excitationand magnetic parameters have obvious effects on the low frequency vibration amplitude of elements. When magnetization intensity and pole pair number are too large or too small, they will seriously affect the dynamic performance of the system. So, selecting rational system structure parameters is very important, which can avoid system elements generating larger vibration. © (2014) Trans Tech Publications, Switzerland.

关键词： Frequency response

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Kinematic,Workspace and Force Analysis of A Five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 232-243页

作者： Yundou Xu Fan Yang Youen Mei Dongsheng Zhang Yulin Zhou Yongsheng Zhao Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 006004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Tencent Robotics X Tencent HoldingsShenzhen 518057China

In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research *** this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ***,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is *** that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the *** on the obtained results from the force analysis,the manipulator structure is ***,the structure optimization is carried out to improve the robot ***,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the *** work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.

关键词： Hybrid manipulator Over-constrained Kinematic analysis Stiffness analysis

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Analysis of force transducer calibration accuracy based on different influence factors

Analysis of force transducer calibration accuracy based on d...

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作者： Zhao, Yan-Zhi Li, Gui-Tao Niu, Zhi Weng, Da-Cheng Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Ministry of Education of China Qinhuangdao 066004 China Ministry of Education of China Qinhuangdao 066004 China

ISBN: (纸本)9783038351221

The actual use conditions of force transducer is differences between the factory verificationconditions, so based on the structure and working principles, this article is aimed at accurate calibration and proper use of force transducer. Through the CAE simulations and calibration experiments in actual working conditions which are the installation pre-tightening force, structure of fittings and pedestal's hardness, analyses the output signals of force transducer. Force standard machine was carried out on the calibration experiment to verify the correctness of the numerical simulation. And then the outcomes obtained by numerical simulations and the calibration experiments, it studies the differences of every output performance index of force transducers in different working conditions above-mentioned. © (2014) Trans Tech Publications, Switzerland.

关键词： Calibration

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