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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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Design and analysis of truss deployable antenna mechanism based on a novel symmetric hexagonal profile division method

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Chinese Journal of Aeronautics 2021年第8期34卷 87-100页

作者： Jinwei GUO Yongsheng ZHAO Yundou XU Yongjie LI Jiantao YAO 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

As the deployment,supporting,and stability mechanisms of satellite antennas,space-deployable mechanisms play a key role in the field of *** order to design truss deployable antenna supporting mechanisms with large folding rate,high accuracy,easy deployment and strong stability,aiming at the geometric division of the parabolic reflector,a novel method based on symmetric hexagonal division and its corresponding modular truss deployable antenna mechanism is proposed,and the original method based on asymmetric triangular division and its corresponding mechanisms are presented for comparative ***,the screw theory is employed to analyze the mobility of different ***,the improved three-dimensional mesh method is used to divide the reflector surface of a large parabolic antenna designed by the two different methods,and the profile accuracy and the type of links are taken as the evaluation indexes to quantitatively analyze the division ***,a three-dimensional model of the modular deployable mechanism based on the symmetric hexagonal design is developed,and the deployable mechanisms with different configurations based on the two design methods are compared and analyzed from the mechanical *** research results provide a good theoretical reference for the design of deployable truss antenna mechanisms and their application in the aerospace field.

关键词： Mobility Modular mechanism Profile division Screw theory Truss deployable antenna

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Research on the motion-free axis synchronization of a novel translational linear structured light scanning system

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Optik 2025年 327卷

作者： Liu, Jianxin Liu, Xingyu Li, Yanwen Chen, Ziming School of Mechanical Engineering Yanshan University Hebei Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Hebei Qinhuangdao066004 China

The line-structured light three-dimensional measurement system has the advantages of non-contact, low cost, and high speed. A line mobile structured light scanner measurement system is designed in this paper. The surface scanning process based on line structured light measurement in the fixed camera coordinate system is realized. The single-line structured light emitter is fixed on the slider of the linear module, and a multi-line structured light emitter is added to assist in calculating the light plane equation of the single-line structured light. The system doesn't need to calibrate the trajectory of the linear module slider in the camera coordinate system, and there is no need to synchronize the timestamps of camera image acquisition and motor encoding reading. The error of calculating the parameters of the light plane equation caused by the time difference between the encoder and image acquisition is eliminated. Experiments show that the design has high precision and dense point clouds. © 2025

关键词： Cameras

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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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Optimization of Bearing Capacity Parameters of Fully Decoupled Two-Rotation parallel Mechanism for Vehicle Durability Testing 23rd

Optimization of Bearing Capacity Parameters of Fully Decoupl...

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

作者： Wang, Sen Han, Xueyan Su, Xingzhen Li, Haoran Shan, Yanxia Li, Shihua School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China CITIC Dicastal Co. Ltd. Qinhuangdao066004 China

ISBN: (纸本)9789811993978

The problem of low reproduction accuracy of road spectrum of wheel-coupled vehicle durability test bench needs to be solved. From the perspective of mechanism innovation, a fully decoupled two-rotation parallel mechanism with large load-bearing capacity for vehicle durability testing is proposed in this paper. This kind of parallel mechanism can solve the problem of low-bearing capacity of fully decoupled parallel mechanisms. Based on the requirement of reproduction accuracy of real road spectrum, the degree of freedom required by the mechanism is analyzed. Due to the requirements of fully decoupled and large load-bearing, the configuration design of the parallel mechanism is carried out. In order to further improve the bearing capacity of the mechanism, based on the kinematic analysis results of the mechanism, the size parameters of the mechanism are optimized by using the graph method. The research results show that the bearing capacity of the mechanism is increased by 50% after adding the closed-loop unit and optimizing the size. The finite element simulation verifies that the load-bearing capacity of the optimized fully decoupled two-rotation parallel mechanism satisfies the design index requirements. This research lays a theoretical foundation for the application of fully decoupled parallel mechanisms with large bearing capacity. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Bearing capacity

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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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Design and Analysis of Multi-hoop Truss Deployable Antenna Mechanism Based on Scissors Mechanisms 24th

Design and Analysis of Multi-hoop Truss Deployable Antenna M...

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24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Han, Bo Li, Mingyang Yuan, Zhantu Han, Meng Xu, Yundou Yao, Jiantao School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China College of Information Science and Engineering Northeastern University Shenyang110819 China

ISBN: (纸本)9789819614639

With the development of aerospace industry, satellite antenna has also received more attention as an information transmission instrument. In this paper, a three-layer hoop truss deployable antenna mechanism (HTDAM) is innovatively designed, which can ensure better profile accuracy, and through the integrated assembly of metal reflective mesh and hoop truss mechanism. This feature ensures that the contour of the mechanism is parabolic, so that the antenna has the advantages of high gain and strong directivity. Then the degree of freedom (DOF) and kinematics of the HTDAM were calculated by the screw theory. The analysis shows that the DOF of the HTDAM is equal to one. Finally, the mechanism unit body dynamic model was established, and the unfolding process of the mechanism was analyzed to verify the accuracy of the simulation results and theoretical analysis. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Aerospace vehicles

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Design and analysis of a deployable parabolic structure based on six-crease thick-panel origami

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International Journal of Mechanical Sciences 2025年 297-298卷

作者： Chen, Ziming Liu, Xingyu Yang, Xiao Si, Rongqi Zhao, Chen Li, Yanwen School of Mechanical Engineering Yanshan University Hebei Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Hebei Qinhuangdao066004 China

A deployed six-crease thick-panel origami model can be approximated as a three-dimensional shape, and therefore has great potential for use in the design of curved-surface deployable structures. In this study, a thick-panel six-crease origami was designed and analysed, which revealed a single degree of freedom during deployment. An analytical relationship between the thick-panel origami and the deployable parabolic structure was established;part of the material on the thick-panel was removed to obtain the parabolic deployable structure. The interference of thick-panel origami and parabolic deployable structure during deployment was analysed, and a strategy to eliminate interference was provided. Finally, the relationship between the design parameters and the deployed/folded ratio of the structure was analysed, and the prototype was manufactured. This study provides a novel reference for the design of deployable rotational parabolic structures. © 2025

关键词： Bricard linkage Deployable mechanism Deployable structure Rotational Paraboloid Six-crease origami Thick-panel origami

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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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IEEE International Conference on robotics and Biomimetics

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

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.

关键词：

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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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