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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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Design and analysis of a multi-joint lower limbs rehabilitation robot

Design and analysis of a multi-joint lower limbs rehabilitat...

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International Conference on Advanced mechatronic systems (ICAMechS)

作者： Hongbo Wang Fuhai Deng Lingxue Ren Xiaohua Shi Hao Zhang Liyu Xie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China

This paper presents a multi-joint lower limbs rehabilitation robot with three degrees of freedom. The robot includes seat, left mechanical leg, right mechanical leg and electric control box, and each mechanical leg includes the hip joint, knee joint and ankle joint which correspond to the hip joint, knee joint and ankle joint of human. The mechanical structure of the rehabilitation robot is described. By adjusting the seat angle, the patient can do the rehabilitation training in different postures. However, when the posture of human upper body changes with the elevation of the seat, the swing limit position of human thigh also changes. In order to guarantee the safety of patients, the mechanical limit of hip joint is designed to be variable. Therefore, the workspace of the robot is also variable. The inverse kinematics and variable workspace of the rehabilitation robot are analyzed. The trajectory planning for the variable workspaces is discussed and the flow chart of the trajectory planning is given.

关键词： Joints robots Trajectory Hip Training Equations Knee

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A Remotely Driven Finger Rehabilitation robot for Passive and Active Rehabilitation 12

A Remotely Driven Finger Rehabilitation Robot for Passive an...

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

作者： Wang, Hongbo Du, Jiazheng Zhang, Yongshun Tian, Yu Zhang, Dagan Ning, Yuansheng Niu, Jianye Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Academy for Engineering and Technolgy Fudan University Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China Yanshan University Key Laboratory of Advanced Forging and Stamping Technology Science of Ministry of Education Qinhuangdao066004 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this paper, a finger rehabilitation robot with flexion/extension function is developed. This device consists of a four-finger mechanism and a thumb mechanism. The four-finger mechanism is modular designed, and consists of the metacarpophalangeal joint mechanism and the proximal interphalangeal joint mechanism. The thumb mechanism has an active degree of freedom (DoF). The hardware system and software system of the finger rehabilitation robot were built, and preliminary experiments were carried out, including the passive and active movement of the single joint and the multi-finger movement. The results show the range of motion of this robot can meet the requirements of the rehabilitation, and it is able to carry out active rehabilitation training by means of the human-machine contact force, and it has the ability to realize occupational therapy training for grasping objects in different shapes. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Task-oriented design method and experimental research of six-component force sensor

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 8917卷 1-12页

作者： Yao, Jiantao Li, Wenju Zhang, Hongyu Xu, Yundou Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China

As the isotropy performance widely used for evaluating parallel six-component force sensor is not suitable for a certain task, the task-oriented design method of the sensor is proposed. The mathematic model of sensor is built with the screw theory;based on the task requirement, the task ellipsoid is established. Then, with ellipsoid method, the design method for the sensor structure is proposed and the structure constraints are deduced. In order to perform peg-in-hole assembly task with the task-oriented sensor, the sensor prototype is designed and manufactured. Based on the assembly platform, the experimental research is carried out. The research results are useful for the design and application of six-component force sensor. © Springer International Publishing Switzerland 2014.

关键词： Structural design

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Research on a kind of leg-wheel stair-climbing wheelchair

Research on a kind of leg-wheel stair-climbing wheelchair

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IEEE International Conference on mechatronics and Automation

作者： Hongbo Wang Li He Qi Li When Zhang Dong Zhang Peng Xu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei Province China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao Hebei Province China

ISBN: (纸本)9781479939800

A kind of leg-wheel stair-climbing wheelchair is proposed. The device adopts a leg-wheel composite structure. Both leg type and wheel type can achieve the function of climbing stairs independently, but together they complement each other nicely to strengthen the performance. Stair climbing is completed by coordinating the movement of the legs and the mobile system. There are two control schemes proposed in the control system. Two different kinds of motors, including DC servo motors and DC motors, are controlled. The device has simple operation and good performance which can realize the free conversion from ground model to stair model.

关键词： Conferences mechatronics Automation

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Motor controller design of patient transfer apparatus

Motor controller design of patient transfer apparatus

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International Conference on Information and Automation (ICIA)

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

ISBN: (纸本)9781509041039

A motor controller based on STM32F103 MCU, which is designed for the patient transfer apparatus is presented. Firstly, according to the working principle of the apparatus, the power of the motor is calculated, and the selection of the motor is carried out. According to the chosen motor, the controller's hardware circuit design is carried out. According to the need of apparatus control, the controller adopts the double loop speed control algorithm which is added with the speed forward feed control. The controller has two operation modes, torque mode and speed mode, and the two modes can be switched flexibly during the work process. The controller uses CAN bus communication, makes the network control more easily. A controller parameters debug software programed with QT makes it easy to setup the controller parameters. The software can greatly shorten the time of parameter adjustment. Finally, the related experiment is carried out, and the result indicates that the controller can complete the control task well.

关键词： DC motors Instruction sets Control systems Feedforward neural networks Motor drives Transfer functions

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Dynamic Performance Analysis of a Fully Pre-stressed Six-Component Force Sensor

Dynamic Performance Analysis of a Fully Pre-stressed Six-Com...

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International Conference on Electrical and Control Engineering (ICECE)

作者： Zhijun Wang Jiantao Yao Hang Wang Yulei Hou Yongsheng Zhao Parallel Robot & Mechatronic System Laboratory Yanshan University슠 Qinhuangdao Hebei China School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing China

The dynamic performance of a fully pre-stressed six-component force sensor is simulated based on the software of ADAMS. The dynamics theoretical model of the sensor is built first, and the natural frequency and mode vector are deduced. Two simulation methods based on rigid-flexible model and spring-limb model are proposed. The natural frequency and mode shapes of the sensor are obtained by dynamic performance simulation and analysis. Additionally, forced vibration analysis of the sensor is simulated using ADAMS/Vibrition, then the resonance frequency and force vibration mode shapes are obtained. The result of simulation is agree well with the theoretical calculation, which proves the correctness of the simulation analysis.

关键词： Dynamics robot sensing systems Analytical models Vibrations Resonant frequency Force Force sensors

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Kinematic Characteristics and Dynamics Analysis of the Tetrahedral Deployable Mechanism Based on the Screw Theory

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Jiqiren/robot 2020年第1期42卷 21-28and38页

作者： Han, Bo Han, Yuanyuan Xu, Yundou Zheng, Dong 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 Education Yanshan University Qinhuangdao066004 China Department of Mathematics and Computer Science Hengshui University Hengshui053000 China

In order to solve the modeling and analysis problems of the kinematics and dynamics of the spaceborne tetrahedral space deployable antenna, a kinematics and dynamics characteristics analysis method based on screw theory is established. Firstly, configuration and geometric characteristics of the 3RR-3RRR tetrahedral deployable mechanism are analyzed, its screw constrained topology diagram is obtained based on screw theory, and its degree of freedom (DOF) is calculated to be only one. Then, the kinematics analysis of the mechanism is conducted, the velocities of the components are obtained through the combinatorial operation of kinematic twists, and the Jacobian matrix of this mechanism is also obtained. The 6-dimensional acceleration of each component is expressed by the screw derivative, and the angular accelerations and centroid linear accelerations of the node disks and rods are deduced. Finally, the dynamic equation is established based on the Newton-Euler equation and the principle of virtual work, and the numerical calculation and simulation verification are carried out. The simulation results are completely consistent with the numerical results, which verifies the correctness of the kinematics and dynamics characteristics analysis method based on screw theory. Every parameter has clear physical meanings in the analysis based on the proposed method, and the analysis process is easy to program due to its stylization and is suitable for the analysis of such spatial deployable mechanisms. © 2020, Science Press. All right reserved.

关键词： Screws

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Configuration Design and Mobility Analysis of the Scissors Overconstrained Double-Ring Truss Deployable Antenna Mechanism

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Jiqiren/robot 2019年第3期41卷 362-371and383页

作者： Han, Bo Han, Yuanyuan Xu, Yundou 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 Education Yanshan University Qinhuangdao066004 China Department of Mathematics and Computer Science Hengshui University Hengshui053000 China

Based on the overconstrained scissors mechanism unit, a scissors overconstrained double-ring truss deployable antenna mechanism is constructed as a support mechanism for the satellite antenna. Firstly, the configuration mechanism and overconstraint characteristics of the scissors overconstrained double-ring truss mechanism are analyzed, and the units of the whole truss mechanism are decomposed. Then, the geometric conditions for the ring structure of the scissors overconstrained double-ring truss mechanism are derived in consideration of the effects of joint size. Furthermore, the screw constraint topology of the decomposed mechanism units is drawn based on the graph theory and screw theory, and the mobilities of the closed-loop deployable mechanism unit and the double-ring truss mechanism are analyzed. The result shows that the mobility of the whole double-ring truss mechanism is the same as that of the closed-loop deployable mechanism, with only one mobility. Finally, a simulation model of the double-ring truss deployable antenna mechanism is built, the deploying process of the whole double-ring truss is simulated, and the deployable feature is verified. The proposed scissors overconstrained double-ring truss deployable antenna mechanism has only one mobility, its kinematic joints are all revolute joints, and the movement form is simple. © 2019, Science Press. All right reserved.

关键词： Screws

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Type Synthesis of Ring Truss Deployable Antenna Mechanism Based on Screw Theory

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Yuhang Xuebao/Journal of Astronautics 2019年第7期40卷 831-841页

作者： Han, Bo Xu, Yun-Dou Han, Yuan-Yuan Yao, Jian-Tao Zhao, Yong-Sheng 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 Department of Mathematics and Computer Science Hengshui University Hengshui053000 China

Based on the screw theory, the type synthesis of the ring truss deployable antenna mechanism is studied. Firstly, the constrained synthesis method based on the screw theory is briefly introduced, and the deployment principle of the ring truss deployable antenna mechanism is analyzed. Then, the ring truss mechanism is divided into two parts, the upper ring edge and the lower ring edge, the ring truss mechanism can be obtained by constructing the ring edge mechanisms and connecting the upper and lower ring edges. Furthermore, the prismatic joint (P) ARE used to describe the movement characteristics of each node, the analysis and synthesis of the ring edge mechanisms are carried out by the constraint synthesis method based on the screw theory, 16 kinds of constraint branch mechanisms are obtained, and two kinds of constraint branch mechanisms are selected through analysis and optimization. The ring edge link mechanisms are obtained by combining the constraint branch mechanisms, and four ring truss deployable mechanisms are obtained through different connection combinations. Finally, three-dimensional models are built in Solidworks software for the four kinds of ring truss deployable mechanisms, and the deployable features of the four mechanisms are verified by the movement simulation. The research provides a new idea for the synthesis of the deployable antenna mechanisms, and the ring truss mechanisms obtained have a good application prospect in the field of space deployable antenna. © 2019, Editorial Dept. of JA. All right reserved.

关键词： Computer software

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