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Actuation Spaces Synthesis of Lower-Mobility parallel Mechanisms Based on Screw Theory

Chinese Journal of Mechanical Engineering 2021年第1期34卷 280-291页

作者： Shihua Li Yanxia Shan Jingjun Yu Yaxiong Ke Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China School of Liren Yanshan UniversityQinhuangdao 066004China Robotics Institute Beihang UniversityBeijing 100191China

The lower-mobility parallel mechanism has been widely used in the engineering field due to its numerous excellent ***,little work has been devoted to the actuator selection and placement that best satisfy the system's functional requirements during concept *** this study,a unified approach for synthesizing the actuation spaces of both rigid and flexure parallel mechanisms has been presented,and all possible combinations of inputs could be obtained,laying a theoretical foundation for the subsequent optimization of *** to the linear independence of actuation space and constraint space of the lower-mobility parallel mechanism,a general expression of actuation spaces in the format of screw systems is deduced,a unified synthesis process for the lower-mobility parallel mechanism is derived,and the efficiency of the method is validated with two selective examples based on screw *** study presents a theoretical framework for the input selection problems of parallel mechanisms,aiming to help designers select and place actuators in a correct and even optimal way after the configuration design.

关键词： Lower-mobility parallel mechanism Screw theory Actuation space Actuator placement Input selection

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An End-Traction Lower Extremity Rehabilitation robot: Structural Design, Motion Analysis, and Experimental Validation 23rd

An End-Traction Lower Extremity Rehabilitation Robot: Struct...

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

作者： Bian, Hui Yang, Fan Sun, Zhaoliang Li, Jiachen Ding, Jiebin Li, Shuai Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Hebei Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China Hebei Qinhuangdao066004 China

ISBN: (纸本)9789811993978

An end-traction lower extremity rehabilitation robot named ETLER is designed to meet the rehabilitation needs of patients with lower extremity dysfunction at all stages of recovery, while taking into account the ease of operation for the patient. A single robot can meet the needs of a hemiplegic patient on either side for the designed end-change structure. The robots can also be used in pairs for patients with spinal cord injuries. Meanwhile, the adjustable ankle joint limit design provides customized training programs for the ankle joint. To carry out the trajectory planning of the rehabilitation robot, kinematic analysis and control strategy modeling of the robot and human–machine system are carried out. The functionality and universality of the rehabilitation robot are verified through comparative tests. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Machine design

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Research on Active Training Model of Rehabilitation robot Based on Joint Torque Signal 2

Research on Active Training Model of Rehabilitation Robot Ba...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Yan, Hao Yan, Yonggan Li, Yungui Niu, Baoshan Liu, Meng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University China Academy for Engineering and Technology Fudan University Shanghai China

This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force of the patient. According to the damping control strategy, the end force and speed mapping function planning is completed. The joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion. © Published under licence by IOP Publishing Ltd.

关键词： Balancing

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Pre-tightening force analysis of a pre-stressed six-axis force sensor

Pre-tightening force analysis of a pre-stressed six-axis for...

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2014 International Conference on mechatronics, Electronic, Industrial and Control Engineering, MEIC 2014

作者： Wang, Zhijun He, Jing Liu, Wanyu Zhao, Yongsheng College of Mechanical Engineering Hebei United University Tangshan China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Tangshan Industrial Vocational Technical College Tangshan China

ISBN: (纸本)9789462520424

By using sphere pair with unilateral constraint, the limbs of the proposed pre-stressed six-axis sensor must be under pressure in the measurement process, so prior to measurement, a certain preload must be applied to the sensor. The viable limbs' number of the pre-stressed six-axis force senor is determined by using convex theorem. By solving the static equilibrium equation of sensor, the reacting forces on limbs are divided into two parts: the particular solution is generated by the external force, while the homogeneous solution is only concerned with the pre-tightening force. The number of parameters to be determined in homogeneous solution is decreased by linear transform, and the method for determining the pre-tightening force is derived to make all the limbs compressed when it is subjected to the expected range of external force. A numerical example to determine the pre-tightening force of the force sensor is performed. The numerical example results show that the force on limbs can always maintain positive value with the appropriate pre-tightening force, which proves the correctness of the theoretical analysis and the validity of the sensor structure. © 2014. The authors - Published by Atlantis Press.

关键词： Numerical methods

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Research on the Process-based Generation Method of Scenarios Database for Maritime Autonomous Surface Ship Test 7

Research on the Process-based Generation Method of Scenarios...

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2022 7th International Conference on Electronic Technology and Information Science, ICETIS 2022

作者： Wang, Xinyu Wang, Yihang Ma, Jilin Bian, Hui Zhao, Xuan Lan, Yaoyao Qinhuangdao Branch China Classification Society Hebei Qinhuangdao China School of Mechanical Engineering Yanshan University Hebei Qinhuangdao China Science and Technology Innovation and Test Center China Classification Society Beijing China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Hebei Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Hebei Qinhuangdao China

ISBN: (纸本)9783800757794

In recent years, Maritime Autonomous Surface Ship (MASS) has been developed rapidly and has demonstrated many new capabilities, which poses a challenge to the testing methods of autonomous ships. Currently, traditional test methods is no longer sufficient to support comprehensive testing and verification. For virtual testing, there is still a lack of a reliable virtual test scenario generation process. Therefore, this paper proposes a method for generating virtual test scenarios for autonomous ships. It is based on the scenario generation frame of the intelligent car and comprehensively considers the feature of the operating environment of the MASS. This process develops an element database by deconstructing the real scenes. For generating, it reconstructs and assigns the elements according to the test task (functional scenario) and the logical relationship between the elements (logical scenario) to reconstruct the new scenario. The new scenarios obtained in this way are optimized and supplemented to be the test scenarios database. In addition, a prototype following this frame was designed and loaded with the "automatic pathfinding task of the Wuhan section of the Yangtze River under good navigation conditions" for testing. The experiment generated 48 different scenarios, proving that this generator can output a comprehensive test scenario database to meet test requirements. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Database systems

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Mobility and motion analysis of a special 3-UPU parallel mechanism 14

Mobility and motion analysis of a special 3-UPU parallel mec...

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14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Chen, Ziming Zhang, Yang Huang, Kun Ding, Huafeng Huang, Zhen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China Faculty of Mechanical and Electronic Information China University of Geosciences Wuhan China

ISBN: (纸本)9789860460988

In this paper, the mobility and motion characteristics of a special 3-UPU parallel mechanism (PM) are studied. Using the screw theory and geometric method, the mobility of this PM is analyzed. When the moving platform and the base are not parallel, it has two rotational and one translational DOF. There is always a midperpendicular plane between the base and the moving platform. The moving platform can realize continuous rotation about any fixed axis or any fixed point on the midperpendicular plane and can have continuous translation along the normal line of the midperpendicular plane. Two numerical examples of the continuous motion are given.

关键词： Motion analysis

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Forced vibration frequency response for a permanent magnetic planetary gear

Forced vibration frequency response for a permanent magnetic...

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International Conference on Vibroengineering - 2015

作者： Zhu, Xuejun Hao, Xiuhong Qu, Minggui Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China School of Materials Science and Engineering Yanshan University Qinhuangdao China

The time and frequency forced responses for the permanent magnetic planetary gear drive were computed and analyzed. The influence of air gap between sun gear and planetary gear to frequency forced responses is discussed. Results show that the changes of air gap have obvious effects on the low frequency vibration amplitude of elements. When air gap is too large or too small, it will seriously affects the dynamic performance of the system. So, selecting rational system structure parameters is very important, which can avoid system elements generating larger vibration. © JVE International Ltd.

关键词： Frequency response

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Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot 2

Dynamics analysis and simulation of a new 6-DOF lower limb r...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Lin, Musong Yan, Yonggan Liu, Guowei Su, Bowen Zhao, Chaosheng Wang, Fuhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao China Academy for Engineering and Technology Fudan University Shanghai China

This paper proposes a new hybrid (parallel-serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future. © Published under licence by IOP Publishing Ltd.

关键词： Joints (anatomy)

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Comfort degree of patients' rehabilitation training based on DSmT theory 2

Comfort degree of patients' rehabilitation training based on...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Yan, Hao Niu, Baoshan Wang, Xincheng Li, Yafeng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao China Academy for Engineering and Technology Fudan University Shanghai China

This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor information of fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling. © Published under licence by IOP Publishing Ltd.

关键词： Patient rehabilitation

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Design of a positioning manipulator for minimally invasive vascular interventional surgery robot system 15

Design of a positioning manipulator for minimally invasive v...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Wang, Hongbo Wang, Xusheng Guan, Bo Chang, Jingyuan Yu, Haoyang Tian, Hesuo Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Zhejiang Youren intelligent robot Co. Ltd No. 175 Anshan Road Yuyao Zhejiang Province15400 China

ISBN: (纸本)9781538660720

In order to realize the flexibility and positioning reliability of the positioning manipulator of the minimally invasive vascular interventional surgery robot system, and to avoid the problem of fixed programming of the active positioning manipulator, a new passive positioning manipulator was designed. First, based on the requirements of the system and the self-balancing conditions of the passive positioning manipulator, a configuration of the manipulator is proposed, and the degree of freedom and working space are verified to meet the requirements of the working conditions. Then, according to the characteristics of simultaneously locking and release of the joints when the manipulator works, a locking scheme of multi-joint is proposed, and the design of the mechanical structure is carried out in detail. Finally, the positioning manipulator can achieve the function of being dragged under artificial operation and locating whenever and wherever necessary. © 2018 IEEE.

关键词： Manipulators

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