检索结果-内蒙古大学图书馆

Dynamics of Passive-input Overconstrained Deployable Antenna Mechanisms Composed of 3RR-3RRR Tetrahedron Units

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2020年第5期56卷 181-191页

作者： Liu, Wenlan Xu, Yundou Guo, Jinwei Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

The dynamic model of a passive-input overconstrained deployable antenna mechanism composed of 3RR-3RRR tetrahedron units is established, and the effects of the number, stiffness and initial compression angle of driving elements (i.e., torsion springs) on the motion of mechanism are analyzed. Based on the structural characteristics and spatial coordinate transformation formulas the relationships between the positions of the centroid of each component and the independent deployment angle of the mechanism are deduced, and then the analytical expressions of velocities of all components are obtained. The movements of all components are divided into translation motion, fixed-axis rotation, plane motion and compound motion according to the characteristic of the degree of freedom (DOF) of the mechanism. For the sake of dynamic analysis of the passive-input overconstrained mechanism, the composite motion of components is further decomposed into plane motion and translation motion along the normal direction of the plane. The dynamic models of the passive-input overconstrained deployable mechanism 3RR-3RRR and its combined mechanism 3(3RR-3RRR)-3RRR-3RRR are built by using Lagrange method. The relationships between the stiffness of torsion springs and the independent deployable angle of the mechanisms are obtained, and the influence of the stiffness and number of torsion springs on the deployable motion of the mechanisms is analyzed. The simulation model of 3(3RR-3RRR)-3RRR-3RRR mechanism is established by Adams software. The simulation is carried out by adding torsion springs with different numbers and stiffness. In addition, the effect of initial compression angle of torsion springs on the deployable motion of the mechanism is discussed. The simulation results verify the correctness of theoretical analyses. The results can provide theoretical guidance for the coordinated control of passive-input overconstrained deployable antenna mechanisms composed of 3RR-3RRR tetrahedron u

关键词： Stiffness

来源：评论

学校读者我要写书评

暂无评论

Driving force synchronous control of redundantly actuated parallel manipulator

引用

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

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

来源：评论

学校读者我要写书评

暂无评论

Teeth profile parameter design and transmission property analysis of external generating wave movable teeth transmission

Teeth profile parameter design and transmission property ana...

引用

19th International Conference of Fluid Power and mechatronic Control Engineering 2018

作者： Yi, Yali Gao, Yunfei Wei, Rui Jin, Herong College of Mechanical Engineering Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China

A highly efficient integrated transmission unit - external generating wave movable teeth transmission − was proposed and two kinds of typical transmission types were researched. Fixed and moving coordinate systems were established based on movable teeth transmission theory. On the basis of the profile of a wave generator, the teeth profile equations of ring gear were deduced by using the transform matrix and profile enveloping principle. The effects of the teeth number of the ring gear, generating wave coefficient, and tooth profile coefficient on the profile of the ring gear were investigated. The formula for calculating curvature radius of the ring gear was given. The pressure angle formulas were deduced, and the change rule of the pressure angle extremum was researched to obtain a continuous transmission condition. The relationship between design parameters and performance effect was analysed based on the analysis of the curvature and pressure angle. The results show that the transmission precision reached 97.67%, and the proper design parameters could guarantee transmission performance. Those researches lay a theoretical foundation for the design and application of an external generating wave movable teeth title. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Gear teeth

来源：评论

学校读者我要写书评

暂无评论

Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation robot

Research on Fuzzy PID Control Algorithm for Lower Limb Rehab...

引用

IEEE Information Technology and mechatronics Engineering Conference (ITOEC)

作者： Hongbo Wang Tingting Lu Baoshan Niu Hao Yan Xincheng Wang Jianyu Chen Yungui Li Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province

ISBN: (纸本)9781538653746

Cerebrovascular disease, hemiplegia and paraplegia may lead to lower extremity motor dysfunction. According to the theory of neural rehabilitation, proper rehabilitation training can help patients recover. In this paper, a lower limb rehabilitation robot is proposed, which can realize passive training and active training. Firstly, the mechanical structure and electrical system are designed. Secondly, in order to solve the problem of inaccurate parameters in the dynamic model of robot joint torque control, a fuzzy adaptive PID controller is established by combining negative feedback with PID regulator to eliminate the system error.

关键词： Training Rehabilitation robotics Legged locomotion PI control PD control robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

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 ...

引用

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：

来源：评论

学校读者我要写书评

暂无评论

Design and Research of A Soft Hand Rehabilitation robot with Multiple Training Modes 3

Design and Research of A Soft Hand Rehabilitation Robot with...

引用

3rd International Conference on Computing, Networks and Internet of Things, CNIOT 2022

作者： Wang, Fuhao Wang, Hongbo Luo, Jingjing Kang, Xiaoyang Zhang, Xueze Chen, Li Pan, Qiqi Academy for Engineering & Technology Shanghai200433 China Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (纸本)9781665469104

There are many hemiplegic patients with hand dysfunction caused by stroke. Restoring hand function can effectively improve the quality of life of patients. Traditional rehabilitation training can improve hand strength and flexibility, but there are few medical staff and high workload, which may easily lead to unstable training effect. Therefore, this letter designed a soft hand rehabilitation robot with multiple training modes. By analyzing the natural movements of human fingers, the flexible exoskeleton finger and driving unit are designed. The kinematics of the finger are derived to achieve uniform changes in the angle of the finger joints. The hand rehabilitation robot can support multiple training modes such as individual finger training, five-finger collaborative training, and left-right hand symmetry training. Experiments show that the hand rehabilitation robot can carry out continuous and stable finger joint training, and has a good rehabilitation training effect. © 2022 IEEE.

关键词： Personnel training

来源：评论

学校读者我要写书评

暂无评论

Research on Variable Workspace of Continuum robot for Organ Protection and Multi-arm Cooperation 12

Research on Variable Workspace of Continuum Robot for Organ ...

引用

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

作者： Wang, Fuhao Wang, Hongbo Luo, Jingjing Kang, Xiaoyang Zhang, Xueze Wang, Jiawei Pan, Qiqi Academy for Engineering and Technology Fudan University Shanghai200433 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Intelligent Robot Engineering Research Center of Ministry of Education Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Minimally invasive surgery (MIS) has gradually become the preferred method of surgery due to its advantages of less trauma and faster recovery. However, the small and complex surgical area places high demands on the performance of the robot and the skill level of the doctor. In order to avoid the damage of other healthy organs with surgical instruments during the operation, a variable workspace of a continuum robot is designed in this paper. The information of the dynamic transformation of the surgical environment is used to continuously update the workspace of the continuum robot. For healthy vital organs, the workspace can actively shield its corresponding posture. Experiments have verified that for a variety of complex surgical scenarios, the variable workspace can simply and effectively implement the safety protection of healthy organs, and can avoid interference when multiple arms work together. © 2022 IEEE.

关键词： Surgical equipment

来源：评论

学校读者我要写书评

暂无评论

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom parallel Mechanism

Research Square

引用

Research Square 2021年

作者： Ziming, Chen Chen, Xuechan Min, Gao Chen, Zhao Kun, Zhao 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

In this paper, a novel two-degree-of-freedom (2DOF) spherical parallel mechanism(SPM) with symmetrical structure is proposed and analyzed. First, the models of forward kinematics and inverse kinematics are established based on D-H parameters, and the Jacobian matrix of the mechanism is obtained and verified. Second, the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions. Next, rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism. Moreover, the rotational characteristics of the mechanism are proved and motion planning is carried out. A numerical example is given to verify the kinematics analysis and motion planning. Finally, some variant mechanisms can be synthesized. This work lays the foundation for the motion control and practical application of this 2DOF SPM. © 2021, CC BY.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Effect of Rolling Reduction Rate on the Microstructure of Hot Rolling Stainless Steel Clad Plate 5

Effect of Rolling Reduction Rate on the Microstructure of Ho...

引用

2018 5th International Conference on Advanced Composite Materials and Manufacturing Engineering, ACMME 2018

作者： Jin, Herong Zhang, Lei Yi, Yali Key Lab. of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

The macro-scale and meso-scale simulation models of stainless steel clad plate were established by DEFORM-3D. The multi-scale coupling simulations of clad plate with different rolling parameters were carried out. The seven pass hot rolling process of stainless steel clad plate was simulated by numerical simulation. By contrasting the vertical stress and the deformation resistance of cladding layer, the rolling reduction rate satisfying interface bonding was obtained. The grain distribution at the center of the substrate layer was analyzed and reasonable hot rolling reduction rates were selected considering their effects on the recrystallization volume percent and the grain size. The results show that the grain size decreases with the increase of reduction rate. However, too much reduction rate will decrease the rate of recrystallization volume percent and the refining effect of grain is not obvious. To ensure uniform grain size distribution, it is most reasonable to set the rolling temperature to 1150°C and the reduction rate to 50%. © Published under licence by IOP Publishing Ltd.

关键词： Stainless steel

来源：评论

学校读者我要写书评

暂无评论

Stiffness analysis of a planar 3-RPS parallel manipulator

Lecture Notes in Mechanical Engineering

引用

Lecture Notes in Mechanical Engineering 2017年 13-28页

作者： Hu, Bo Song, Chunxiao Li, Bo Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei066004 China

This paper studied the stiffness model and characteristics of a planar 3-RPS PM with 3-DOF. The 6 × 6 form stiffness matrix of the planar 3-RPS PM is derived with both active and constrained wrenches considered. To characteristic the stiffness of the planer 3-RPS PM, two decomposition methods including the eigenscrew decomposition and the principle axes decomposition are applied to the stiffness matrix. The stiffness matrix decomposition provides a physical interpretation and allows the identification of the compliant axes of the planar 3-RPS PM. © Springer International Publishing Switzerland 2017.

关键词： Stiffness

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：