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International Conference on Advanced mechatronic systems (ICAMechS)

作者： Hongbo Wang Dong Zhang Hao Lu Yongfei Feng Peng Xu Razvan-Viorel Mihai Luige Vladareanu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Mechatronics Laboratory Institute of Solid Mechanics Bucharest Romania

In order to help patients achieve effective and coordinating multi-joints movement easily, the paper presents an active training method of a lower limb rehabilitation robot based on constrained trajectory. The realization process of the method is as follows. The patient's movement intention is recognized by analyzing the signals from torque sensors installed in rehabilitation robot joints, and the moving velocity of the mechanical arm terminal is calculated through the establishment of the damping function and the design of constrained trajectory. The velocity of joints can be calculated through kinematic Jacobi matrix, and is used to drive the joints. The moving velocity of the mechanical arm terminal on a constrained trajectory can be controlled through adjusting the damping function, in order to achieve the active rehabilitation training for different patients at different levels. Finally, the feasibility of the method is validated by the experiment.

关键词： Decision support systems robots Training Damping Erbium Conferences mechatronics

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Continuous motion of a novel 3-CRC symmetrical parallel mechanism

Continuous motion of a novel 3-CRC symmetrical parallel mech...

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作者： Chen, Ziming Cao, Wen-Ao Ding, Huafeng Huang, Zhen School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Faculty of Mechanical and Electronic Information China University of Geosciences Wuhan China

parallel mechanisms (PMs) with three degrees of freedom (DOFs) have been studied extensively, especially the PMs with two rotational and one translational DOFs (2R1T PMs). One major problem of the 2R1T PMs is the inherent parasitic motion. In this paper, a novel 2R1T symmetrical parallel mechanism with no parasitic motion is proposed and studied. The moving platform and the base of this mechanism are mirror symmetric with respect to a mid-plane. This moving platform can realize continuous rotation about any axis or any point on the mid-plane and can have continuous translation along the normal line of the mid-plane. The constraint and motion characteristics of this mechanism are analyzed. The kinematics solutions and the Jacobian matrix are derived. The singularities of this PM are discussed. In the end, several numerical examples are given to show the continuous rotations and continuous translations of this PM. This kind of PMs has outstanding advantages of easy path planning and controlling. © 2014 Institution of Mechanical Engineers.

关键词： Jacobian matrices

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Analysis of a Five-Degree-of-Freedom Hybrid robot RPR/RP + RR + P 23rd

Analysis of a Five-Degree-of-Freedom Hybrid Robot RPR/RP + R...

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

作者： Ma, Xuejian Xu, Yundou Wang, Yu Yang, Fan Zhao, Yongsheng Yao, Jiantao Zhou, Yulin Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9789811993978

This work proposes a hybrid machining robot RPR/RP + RR + P based on a planar parallel mechanism. Based on the screw theory, the characteristics of the degree of freedom of the hybrid robot are analyzed, and then the inverse and forward kinematics are solved by geometric methods. And size optimization is carried out by taking the workspace and driving forces as the objects. Then the working space of the hybrid robot is calculated by the Monte Carlo method. Finally, the three-dimensional model of the mechanism is established, and through ADAMS simulation, the accuracy of the inverse kinematics solution was verified. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Inverse kinematics

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Impedance Control with New Inner Torque loop for Compliant Joints and Its Performance Analysis 36

Impedance Control with New Inner Torque loop for Compliant J...

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第36届中国控制会议

作者： Yin Ke Jian Li Zonglin Huang Shuai Li Guodong Li The Bionic Robot and System Key Laboratory School of Mechatronic EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology Beijing Jingwei Hirain Technologies

ISBN: (纸本)9781538629185

For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position（motor-side position 9 and link-side position q） feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.

关键词： Compliant joint Impedance control Static stiffness

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Model-based Synchronous Control of Redundantly Actuated parallel Manipulator with Neural Network

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Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 2018年第2期49卷 367-375页

作者： Liu, Xiaofei Yao, Jiantao Zhao, Yongsheng Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao066004 China Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China

Redundantly actuated parallel manipulator demands higher actuation coordination than the non-redundantly actuated one, thanks to its degree of actuation exceeding its degree of freedom. To improve the actuation coordination of redundantly actuated parallel manipulator, a novel model-based driving force synchronous control method with neural network was proposed. With 6PUS+UPU parallel manipulator as object, dynamic model was derived based on virtual work principle. To improve the actuation coordination of redundantly actuated parallel manipulator, a novel driving force synchronous control method was proposed on basis of force-position hybrid actuation. The synchronous control method was based on the driving force error of actuated joints and driving force adjustment was calculated by the synchronous controller. The synchronous controller was designed with neural network. What's more, the learning law of neural network controller was derived with manipulator's dynamic model to improve the learning efficiency. Model simulation and prototype experiment were carried out, and a performance comparison analysis with traditional force-position hybrid actuation method was made to verify the proposed control method. Comparison analysis revealed that, comparing with the traditional force-position hybrid actuation method, driving force synchronous control with neural network proposed could effectively improve the actuation coordination of redundantly actuated parallel manipulator. The results revealed that the synchronous control method reduced the driving force errors of whole manipulator by properly magnifying the control error of force actuated joint. © 2018, Chinese Society of Agricultural Machinery. All right reserved.

关键词： Dynamic models

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Design and analysis of positioning manipulator structure for vascular interventional surgery robot system 4

Design and analysis of positioning manipulator structure for...

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2021 4th International Conference on Advanced Materials, Intelligent Manufacturing and Automation, AMIMA 2021

作者： Yu, Haoyang Li, Xiaolin Yao, Michenyang Wang, Hongbo Niu, Jianye Chang, Jingyuan Wang, Jiawei Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Academy for Engineering and Technology Fudan University Shanghai200433 China Tianjin Siasun Robot and Automation Co. Ltd Tianjin300000 China

The positioning manipulator is an important part of the minimally invasive vascular interventional surgical robot system. In order to make the surgical robot system have high safety, convenience and accuracy, this paper designs a modular light weight manipulator as a positioning manipulator, which is used to realize the positioning and movement of the propulsion device. First, according to the requirements of the operation, the degree of freedom and configuration method of the manipulator are determined, and the configuration design and parameter selection of the manipulator are completed. Then, according to the structural characteristics of the articulated robot, the D-H parameter method and the inverse transformation method are used to analyze the kinematics of the manipulator and its working space are analyzed. On this basis, the manipulator is analyzed by finite element and verified by static simulation. Finally, the positioning manipulator can realize the function of dragging in its working space by hand to achieve the target pose. © Published under licence by IOP Publishing Ltd.

关键词： Manipulators

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Driving force synchronous control of redundantly actuated parallel manipulator

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Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing systems, CIMS 2018年第9期24卷 2140-2149页

To improve the actuation coordination of redundantly actuated parallel manipulator, a novel model-based driving force synchronous control method was proposed. With 6PUS+UPU parallel manipulator as the research object, the dynamics model was deduced based on virtual work principle, and the coordination mechanism of driving force under scheduled motion was analyzed. On the basis of force-position hybrid actuation, a driving force synchronous control method was proposed, and the control algorithm was designed with coordination mechanism. Simulation and prototype experiment were used to verify the proposed control method. © 2018, Editorial Department of CIMS. All right reserved.

关键词： Manipulators

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Force measurement method and analysis of guide wire in minimally invasive cardiovascular interventional surgery

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Journal of Chemical and Pharmaceutical Research 2014年第1期6卷 266-270页

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

This paper presents a method of detecting the resistant force that acting on the guide wire when it moving into the body blood vessel for minimally invasive cardiovascular interventional surgery operated by a robot system. To learn more about the influenced factors for measured force, some simulations of body blood flow environment have been given. And then some analyses have been worked on blood flow to study whether the parameters of blood flow influence the resistant force measurement results. All of these studies will make us know more about the reliability of this force detecting method and lay the foundation for realizing force feedback in minimally invasive surgery robot system to further improve the system reliability.

关键词： Blood vessels

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Design and Experimental Evaluation of WLR-III

Design and Experimental Evaluation of WLR-III

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Xu Fu, Yili Zhejiang University State Key Laboratory of Robotics and System Harbin Institute of Technology State Key Laboratory of Fluid Power and Mechatronic Systems China Harbin Institute of Technology Intelligent Robot Research Center Zhejiang Laboratory State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed. © 2023 IEEE.

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Modified formula of mobility for mechanisms

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 8918卷 535-545页

作者： Lu, Wenjuan Zhang, Lijie Zhang, Yitong Ma, Yalei Cui, Xiaoxu Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao066004 China

How to determine the degree of freedom (DOF) of parallel mechanisms (PMs) and multiloop spatial mechanisms has been a long standing problem, and it still is an active field of research with plenty open questions. Firstly, three categories formulas expressed with loop-unit are introduced from a new perspective of their treatment for the motion parameter of each independent closed loop(ICL). Secondly, based on some concepts and theory of link group, the analysis provides insight into why the previous formulas do not work for some multiloop mechanisms. Then a modified formula is presented by adding an addition index called loop-redundant-rank, meanwhile the steps of estimate of mobility property are presented. Finally a typical examples is selected to calculate the DOF with the formula mentioned above. And the results coincide with the prototype data, which shows the effectiveness of the proposed method to a certain extent. It can be seen that the formula presented in this paper can do quick mobility calculation and mobility property analyses of parallel mechanisms with elementary legs. © Springer International Publishing Switzerland 2014.

关键词： Mechanisms

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