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Mechanism design and simulation analysis of robot system for vascular interventional surgery

Journal of Physics: Conference Series 2021年第5期1885卷

作者： Haoyang Yu Hongbo Wang Wenjie Liu Jianye Niu Da Huang Xue Yang Yu Dong Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Academy for Engineering & Technology Fudan University Shanghai 200433 China School of Mechanical Engineering Jinan University Jinan China Shanghai Xingbei Industry (Group) Co. Ltd Shanghai 200131 China

At present, the mortality of cardiovascular and cerebrovascular diseases is getting higher and higher, interventional surgery has obvious advantages over traditional surgery, and robot technology has also entered this field. Combined with the existing research results, a set of surgical robot system is designed. The operating device uses magnetic powder brake to provide real force feedback of braking torque, the propulsion device adopts a clamping rod structure to accurately clamp the catheter or guide wire, and the force signal is collected by using the lever principle. Finally, the study of the dynamic characteristics of the propulsion device shows that the smaller the quality and the higher the tension force are, the more favorable the performance of the propulsion device is, and the calculation verifies the rationality of the transmission part of the propulsion device.

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Research on Motion Algorithm for Intelligent Operation of Rock Drill With Eight Degrees of Freedom

Research on Motion Algorithm for Intelligent Operation of Ro...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Yundou Xu Shaoshuai Tong Zhongjin Ju Zengzhao Wang Yun Zhao Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei P.R. CHINA

ISBN: (纸本)9781538655481

An algorithm for intelligent operation of eight-degree-of-freedom hydraulic rock drill is proposed. With the help of a total station instrument, the position the rock driller was obtained. The D-H method was used to establish the linkage coordinate system of the rock drill manipulator, and the kinematic equations with joint variables being the inputs were obtained. Considering the structural characteristics of the rocker manipulator itself and the actual working conditions, the constrained equations were set, the inverse kinematic analysis was performed, and an intelligent algorithm that gave the analytical expression of each joint variable was obtained. The simulation model of the robotic arm was established by using Adams simulation software, the simulation results were in accordance with the theoretical calculations, which shows correctness of the algorithm. The research results provide a theoretical basis for follow-up drilling trajectory planning and lay a foundation for the intelligent operation of the rock drill.

关键词： Manipulators Rocks robot kinematics Kinematics Hydraulic systems Drilling machines

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Principle and Performance Analysis of Soft Continuum robot with Large Range Variable Stiffness Based on Spherical Particles

Principle and Performance Analysis of Soft Continuum Robot w...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yanzhi Zhao Yu Shan Kaida Guo Longguang Han Lizhe Qi Hongnian Yu Laboratory of Mechanical and Electronic Engineering Institute of Mechanics Yanshan University 438 West Section of Hebei Street Haigang District Qinhuangdao City Hebei Province CHN Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao Hebei Provincial China Academy for Engineering and Technology Fudan University Shanghai China Fuaculty of Science and Technology Bournemouth University Poole United Kingdom

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In the field of robots, soft continuum robots have strong adaptability, and rigid continuum robots have large carrying capacity, but they all have some limitations. The purpose of this paper is to solve the problems of small carrying capacity of soft continuum robots and low safety of rigid continuum robots. Based on the combined action of particle jamming and fiber jamming, we use the good fluidity of spherical particles and the rigidity of spherical particles to realize the flexibility and rigidity of the robot, and put forward the requirement of flexible contact and rigid bearing. According to the large range variable stiffness actual demand, a self-locking soft continuum robot with large range variable stiffness based on the jamming phenomenon is proposed, and the principle of large range variable stiffness is explained. Then the model experiment prototype is designed and manufactured. Based on the model, the combination elastomer is defined. The basic unit is constructed and the theoretical analysis is carried out, and the equivalent of the combination elastomer stiffness model is obtained. Finally, an experimental test system is built. Through the experiment and simulation of variable stiffness, the stiffness change of combination elastomer is obtained, and the specific situation of bearing capacity change is recorded. This study provides a new method to achieve a wide range of stiffness changes, and builds a bridge from soft continuum robots to rigid continuum robots.

关键词： Textiles Jamming Strain Elasticity Soft robotics Force

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Research on dynamic characteristic of connecting rod with joint clearance

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IOP Conference Series: Materials Science and Engineering 2019年第1期542卷

作者： Shihua Li Jilong Xu Jie Zhao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China

In order to study the dynamic characteristics of revolving joint with clearance, the theoretical model of the revolving joint with clearance is established by using Newton Euler method and 'contact-separation' state model. The kinetic equations are solved by using the Gear algorithm in MATLAB software. The change curves of the contact force and the center trajectory of the revolving joint shaft with clearance are obtained considering different clearance, contact stiffness, and rotational speed together. The research results have laid a theoretical foundation for improving the joint forces and the accuracy by using controller.

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Methods for Force Analysis of Overconstrained parallel Mechanisms： A Review

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Chinese Journal of Mechanical Engineering 2017年第6期30卷 1460-1472页

作者： Wen-Lan Liu Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and StampingTechnology and Science of Ministry of National Education Yanshan University Qinhuangdao 066004 China

The force analysis of overconstrained PMs is relatively complex and difficult, for which the methods have always been a research hotspot. However, few liter- atures analyze the characteristics and application scopes of the various methods, which is not convenient for researchers and engineers to master and adopt them prop- erly. A review of the methods for force analysis of both passive and active overconstrained PMs is presented. The existing force analysis methods for these two kinds of overconstrained PMs are classified according to their main ideas. Each category is briefly demonstrated and evaluated from such aspects as the calculation amount, the compre- hensiveness of considering limbs＇ deformation, and the existence of explicit expressions of the solutions, which provides an important reference for researchers and engi- neers to quickly find a suitable method. The similarities and differences between the statically indeterminate prob- lem of passive overconstrained PMs and that of active overconstrained PMs are discussed, and a universal method for these two kinds of overconstrained PMs is pointed out. The existing deficiencies and development directions of the force analysis methods for overconstrained systems are indicated based on the overview.

关键词： Redundantly actuated PM ~ Passiveoverconstrained PM ~ Statically indeterminate problemForce analysis ~ Weighted generalized inverse

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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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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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Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation robot

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

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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

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Synthesis and networking of tetrahedral deployable mechanism based on screw theory

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IOP Conference Series: Materials Science and Engineering 2020年第1期892卷

作者： Zhirong Huang Xiaofei Ma Fei Hu Jialong Zhu Yundou Xu China Academy of Space Technology (Xi'an) Xi'an 710100 China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin 150001 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China

Aiming at the synchronous motion of tetrahedral deployable unit, the kinematic pair is designed and the coupling motion branch is synthesized based on screw theory. The optimal deployable unit is determined by the application. According to the networking requirements, a networking mechanism composed of multiple units with coupling degree of freedom (DOF) is synthesized. The application of the screw theory in the configuration synthesis of deployable mechanism is realized in this paper. The mechanism is suitable for the deployable mechanism of satellite antenna reflector or other space surface deployable support mechanism, which has broad application prospects.

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Kinematic characteristics analysis and assembly application of a spatial symmetric 7R mechanism

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2019年第4期40卷 422536页

作者： Han, Bo Xu, Yundou Yao, Jiantao Zheng, Dong Zhang, Shuo 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 Education Yanshan University Qinhuangdao066004 China

A spatial symmetric 7R mechanism is proposed in this paper, constructing space deployable mechanisms. Firstly, the overall degree of freedom (DOF) is analyzed based on the screw constraint topology diagram, obtaining the variation of DOFs of the whole mechanism when the orientation of the joint axes changes. Then, the number and nature of DOFs of the motion output component in different orientations of the joint axes are analyzed based on the inverse screw theory. and the transient nature of the DOFs are analyzed. It is found that passive DOF and instantaneous DOF occurred in the arrangement of different joint axes orientations. Furthermore, the singular characteristics of the mechanism in different driving conditions are analyzed, obtaining the geometric conditions of the mechanism in the singular configuration under different driving conditions. Finally, a class of single-DOF polygonal pyramid-shaped space deployable mechanism is constructed by combining spatial symmetric 7R mechanisms with DOF at one. By setting the joint axes orientations, the mechanism yields a large folding rate, and due to its singular properties, it has good mechanical properties. Through the combination of a plurality of pyramid-shaped space deployable mechanisms, new large-scale space deployable mechanisms can be constructed, showing good application prospects in the aerospace field. © 2019, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Mechanisms

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