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作者： Xu, Yundou Xu, Zhenghe Yang, Fan Mei, Youen Yue, Yi Zhou, Yulin Yao, Jiantao Zhao, Yongsheng Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Qinhuangdao066004 China Shanghai Aerospace Equipment Manufacture Company Limited Shanghai201100 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

In this paper, a 2R1T (two rotations and one translation) over-constrained parallel mechanism R(2RPR)R/SP with two ordered continuous rotational axes is proposed, which contains fewer joints, by concatenating a 2-degree-of-freedom (DOF) RR tilting head with orientation-adjusting capability, a novel 5-DOF hybrid manipulator is constructed. On this basis, optimize the sizes with the best performance of the motion/force transmissibility as the optimization target, and the design dimensions that meet the requirements of the workspace are obtained and the structural design is carried out. The static stiffness of the manipulator are analyzed, and the analysis results are verified by simulation and compared with the products that have been successfully applied in foreign countries. An iterative searching method is used to determine the workspace of the manipulator, and evaluate whether the workspace of the hybrid manipulator meets the requirements. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Manipulators

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Kinematic and Dynamic Modeling of parallel-serial Hybrid Stabilizing Crane Mechanism

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Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 2018年第8期49卷 411-419and49页

作者： Li, Erwei Zhao, Tieshi Hu, Qiangqiang Wang, Chang Geng, Mingchao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao066004 China College of Mechanical Engineering Hebei University of Architecture Zhangjiakou075000 China

Stabilizing crane plays an important role in the lifting of cargo between ships and offshore platforms, such as wind turbine and drilling platform under high sea conditions. According to the characteristics of motion compensation offshore, a parallel-serial hybrid stabilizing crane mechanism was proposed. The parallel part is a two degrees of freedom (DOF) rotational parallel mechanism (RPM), which has two continuously rotational DOF. The parallel part, with a virtual continuous axis, can isolate the impact of the rolling and pitching of the moored ship to provide a stable base for the serial part: PRRP kinematic chain. The serial part has the degree of heave, yaw, tilt and telescope. The whole stabilizing crane can keep the end point of the crane staying still relative to the earth. Firstly, the hybrid mechanism was described and the corresponding coordinate systems were established. Then, assuming the parallel part and the first P kinematic pair of the serial part compensated the motion of the moored ship, in the non-inertial system, combined the vector method and screw velocity and acceleration theories, the kinematic model of end of the stable gangway stabilizing at a fixed point was established in accordance with the sequence of the parallel part and the serial part. Based on Newton-Euler formulas in screw form and combined D'Alembert principle and virtual work principle, the dynamic model of the hybrid mechanism was established in accordance with the sequence of the serial part and the parallel part. Finally, the correctness of the models was verified by a numerical example. The work laid a theoretical foundation for the engineering application of the stabilizing crane. © 2018, Chinese Society of Agricultural Machinery. All right reserved.

关键词： Kinematics

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GTGR-Net: Graph Attentional-Temporal Network for Surface-Electromyography-Based Gesture Recognition 3

GTGR-Net: Graph Attentional-Temporal Network for Surface-Ele...

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

作者： Jia, Xiaoxu Wang, Hongbo Luo, Jingjing Lai, Zhiping Zhang, Xueze Zhang, Weiqi Tang, Xiuhong Fudan University 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

In this process of active rehabilitation assisted by hand rehabilitation robot, the patient's hand motion intention, that is, the patient's gesture recognition, plays an important role. Gesture recognition based on sEMG signal is a hot research topic. Due to the spatial correlation and time non-stationary of sEMG signal, this research topic has many difficulties. In order to solve this problem, we come up with a gesture recognition network GTGR-Net based on sEMG signal, which uses the combination of graph attention network and time convolution network to extract the spatiotemporal information of sEMG signal. We verify the effect of our algorithm on three public data sets and achieve good results, which is better than the other ways. © 2022 IEEE.

关键词： Convolution

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Design and application analysis of a novel tendon-drive flexible endoscope 3

Design and application analysis of a novel tendon-drive flex...

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

作者： Pan, Qiqi Wang, Hongbo Luo, Jingjing Wang, Fuhao Duan, Wenke Wang, Jiawei Fei, Kangkang Tang, Xiuhong Fudan University 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

In this paper, a four-degree-of-freedom flexible endoscope based on tendon drive is proposed, which overcomes the disadvantage of insufficient flexibility at the end of the traditional endoscope, and provides a wider surgical visual field at the same time. This paper focuses on the study of its driving principle and control method. The designed flexible endoscope consists of a flexible arm and a drive box. The flexible segment is composed of 12 skeleton units in each series. The drive box, whose compact body makes the control process more flexible, controls the tightness of the wire through the bidirectional scrolls. Using the model with constant curvature, the motion principle of the flexible endoscope was studied, the mapping relationship among the drive space, the virtual joint space and the workspace was calculated. The drive control system design and drive algorithm programming of the flexible endoscope were completed, and the circular motion and linear motion of the end effector was realized. After experimental verification, the error of the master-slave control accuracy of the end of the four-degree-of-freedom flexible endoscope is less than 3 mm, the workspace is more than 100% larger than that of the traditional endoscope, and the maximum bending angle can reach 140°, realizing the advantage of a larger surgical visual field. © 2022 IEEE.

关键词： Endoscopy

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Research on mechatronics system design of patient transfer apparatus

Research on mechatronics system design of patient transfer a...

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International Conference on Advanced robotics and mechatronics (ICARM)

作者： Hongbo Wang Zhengcao Liu Jianye Niu Xuefeng He Zhi Lan Yajun Zhang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China National Research Center for Rehabilitation Technical Aids Bejing China

ISBN: (纸本)9781509033652

In view of the situation that patients are transferred by manual method which makes it waste of manpower and easy to produce secondary damage to the patient, a new patient transfer apparatus is presented, and the mechatronics design and application are described. Using this apparatus, one nurse can transfer patient from bed to stretcher or from stretcher to the bed without changing the attitude of the patient. The apparatus can reducing the work intensity of nursing staff, also maximizing avoids secondary damage caused by the process of manual transfer. The development background and concept, mechatronics system design of the apparatus are described. The apparatus consists of 8 belt driver units, divided into two modules, each module drive by four motors. High-performance rechargeable lithium batteries are used for power support. All control systems embedded into the apparatus, so the apparatus and stretcher are independent with each other. The apparatus is controlled by remote control which makes it flexible and easy to operate. A new embedded servo system used in this apparatus is developed, and its control principle and algorithm are proposed.

关键词： Synchronous motors Belts Control systems mechatronics Medical services Sensors Instruments

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Design of a Positioning Manipulator for Minimally Invasive Vascular Interventional Surgery robot system

Design of a Positioning Manipulator for Minimally Invasive V...

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IEEE International Conference on mechatronics and Automation

作者： Hongbo Wang Xusheng Wang Bo Guan Jingyuan Chang Haoyang Yu Hesuo Tian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Zhejiang Youren intelligent robot Co. Ltd Yuyao Zhejiang Province China

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.

关键词： Manipulators Brakes Springs Gravity Torque Minimally invasive surgery

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Nonlinear forced vibration of electromechanical integrated magnetic gear system

Nonlinear forced vibration of electromechanical integrated m...

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IEEE International Conference on mechatronics and Automation

作者： Xiuhong Hao Xuejun Zhu School of Mechanical Engineering Yanshan University Qinhuangdao China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China

ISBN: (纸本)9781479970995

A novel magnetic gear drive, the electromechanical integrated magnetic gear (EIMG) is proposed, in which field modulated magnetic gear, drive and control are integrated. EIMG can offer the larger torque at a lower speed. Considering the obvious nonlinear characteristics of the electromagnetic coupling forces among components, the nonlinear differential equations with quadratic terms are founded. Forced responses of the nonlinear EIMG system are calculated and discussed when the exciting frequency is closed to the torsional modal combination frequency between the inner rotor and the outer ferromagnetic pole-pieces. The results show that the strong and continuous resonance doesn't occur, but the strong transient vibration will occur and the amplitudes of components will decrease very slowly. These will deteriorate the dynamic behaviors of EIMG system.

关键词： Stators Rotors Gears Magnetic resonance Electromagnetic coupling Air gaps Damping

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Inverse Kinematic Algorithm for 8-DOF Redundant Manipulators Based on Weighted Least-Norm Method and Parameterization Method

Research Square

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Research Square 2021年

作者： Chen, Zi-Ming Guo, Yu Xu, Zong-Guo Ji, Chao-Yang Li, Yan-Wen School of Mechanical Engineering Yanshan University Heibei Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Hebei Qinhuangdao066004 China

Eight-degree-of-freedom redundant manipulators are considered more suitable for performing special tasks in unstructured environments due to their high degree of freedom and flexibility. The 8-DOF tunnel shotcrete manipulator is a kind of equipment that is applied to the concrete spraying support in the process of tunnel excavation. Since the mechanism itself is a redundant manipulator with link offset, its inverse kinematics is extremely difficult to solve. To address the problems that the conventional redundant manipulator inverse kinematics solution is difficult to solve analytically and the numerical algorithm requires several iterations with accumulated errors, a synthesis inverse kinematics algorithm based on the weighted minimum norm method and the joint angle parameterization method is proposed to overcome these defects. Firstly, a set of optimized joint angle approximation solutions is obtained based on the weighted least norm method of joint angle limit avoidance optimization function, and secondly, two joint variables are parameterized as known parameters in the optimized approximation solutions based on the joint angle parameterization method, and further, the analytical expressions of the remaining joint angles are derived by algebraic methods. Finally, the superiority of the inverse kinematic synthesis algorithm over the joint angle parameterization method in terms of joint motion is verified by comparing numerical examples of linear motion trajectories. Numerical simulation results show that the algorithm has the advantages of avoiding joint angle limits, high computational accuracy, no cumulative error, and the algorithm can meet the general real-time motion control requirements as demonstrated by the experimental analysis of algorithm time © 2021, CC BY.

关键词： Degrees of freedom (mechanics)

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Innovation design and operation control method of the minimally invasive vascular interventional surgery robot system

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BioTechnology: An Indian Journal 2013年第12期8卷 1604-1613页

作者： Xue, Yang Hongbo, Wang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao 066004 China

A novel minimally invasive vascular interventional surgery robot system is proposed. The system includes a positioning arm, a catheter interventional device and its manipulation *** operation control method for the positioning arm is presented, which is to drag a six-dimensional force sensor fixed on the end of the arm. A six-dimensional force signal will be outputted and transformed into a position and orientation matrix respective to the positioning arm. A fictitious joint is added to the arm with five-degree of freedom (DOF) in accordance with certain principles to change it into a six-DOF configuration. Using the obtained position and orientationmatrix to do inverse kinematic of the six-DOFmechanism, the inverse kinematic of the five-DOF mechanism can be obtained. Take these values as position control commands to the corresponding jointmotors to realize the motion control of the positioning *** example is given to verify the correctness of the proposed method. A master-slave system composed by a catheter interventional device and its manipulation device is proposed. The corresponding actions of every operation states and the master-slave control principle are given. The mapping relations between the displacement distances of the manipulation handle and the promoting finger and between the rotation angles of the handle wheel and the catheter/guide wire are described. By setting different proportionality coefficients, themulti-gear control can be *** the help of master-slave operational method, the doctors can do operations outside the operation room to protect themselves from radiation. Moreover, the systemcan realize force feedback which can help the operator to have force telepresence and to increase the sense of reality and immersion. © 2013 Trade Science Inc. - INDIA.

关键词： Degrees of freedom (mechanics)

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Design and Experimental Study of DC Servomotor Controller

Design and Experimental Study of DC Servomotor Controller

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Advanced Electronic Materials, Computers and Software Engineering (AEMCSE), International Conference on

作者： Ye Wang Xinyu Hu Yongfei Feng Shuangshuang Li Dalian University of Technology Dalian China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Ningbo University Ningbo China

ISBN: (数字)9781728181431

ISBN: (纸本)9781728181448

According to the requirements of the service-oriented robot's precise posture and high operability, an embedded DC servo motor controller based on STM32F103C8T6 microcontroller (MCU) is designed, and a half-board bridge driving chip is used as the driving unit. The controller has four working modes: current mode, speed mode, position mode, and teaching mode. The hardware circuit of the controller is designed and an experimental platform is built. Based on the experimental platform, the working performance of the DC servo motor in different modes is tested. The experimental results show that the controller has better control effect on the DC servo motor and can well meet the working requirements of the service robot.

关键词： DC servomotor Motor controller Embedded system DC servomotor Embedded systems Controllers Service robots

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