检索结果-内蒙古大学图书馆

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

Design of propulsion mechanism for vascular interventional operation robot

Design of propulsion mechanism for vascular interventional o...

引用

International Conference on Advanced mechatronic systems (ICAMechS)

作者： Hongbo Wang Hesuo Tian Huanghuang Guo Xue Yang Yu Tian Xinyu Hu Jianyu Chen Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering University of Jinan Jinan China

Minimally invasive surgery has advantage of reducing the size of the body's trauma, post-operative pain and length of hospital stay. This paper proposes a new type of propulsion mechanism that can simulate the specific operations of human hands in vascular interventional procedures. We conducted detailed structural design and analysis of this propulsion mechanism so that the device can perform the function of delivering the catheter and guide wire simultaneously or separately. The new device allows for easy disassembly of the catheter or guide wire and meets the requirements for real-time monitoring of catheter and guide wire delivery resistance during vascular interventional procedures. The advancing mechanism can assist the doctor in completing the basic operations of the vascular intervention surgery and reduce the surgical intensity of the doctor.

关键词： Wires Propulsion Gears Catheters Thumb robots

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Auto-establishing simulation parallel manipulators with linear legs and auto-solving their workspaces by utilizing CAD variation geometry

引用

International Journal of Computers and Applications 2017年第4期39卷 220-233页

作者： Lu, Yi Bi, Cuicui Ye, Nijia Bo, Hu College of Mechanical Engineering Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei China Hebei Hanguang Industry CO. LTD Hebei China

A new approach of CAD variation geometry is proposed for automatically establishing the simulation mechanisms of parallel manipulators (PMs) with linear legs, and automatically solving their forward displacements, workspaces, and Euler angles. First, the basic concepts and techniques of the CAD variation geometry are described. Second, a program is developed by utilizing new approach. In the developed software, an interface is constructed for inputting given parameters and outputting solved results of data and graphs, several sub-programs are compiled for automatically establishing various simulation mechanisms, solving the forward displacements, and solving/ displaying reachable workspaces and Euler angles of various PMs. Third, the three novel and five existing different PMs are illustrated. When the given parameters of the PMs into the interface are inputted, their simulation mechanisms are established automatically. The displacements, the reachable workspaces, and the Euler angles are solved automatically. Finally, the solved results of the developed software are verified by that of the analytic solutions of several existing PMs and the simulation solutions of several novel PMs. © 2017 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Geometry

来源：评论

学校读者我要写书评

暂无评论

Research on Active Training Model of Rehabilitation robot Based on Joint Torque Signal

引用

IOP Conference Series: Materials Science and Engineering 2019年第7期490卷

作者： Hongbo Wang Hao Yan Yonggan Yan Yungui Li Baoshan Niu Meng Liu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University China Academy for Engineering & Technology Fudan University Shanghai China

This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force of the patient. According to the damping control strategy, the end force and speed mapping function planning is completed. The joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Comfort degree of patients' rehabilitation training based on DSmT theory

引用

IOP Conference Series: Materials Science and Engineering 2019年第6期490卷

作者： Hongbo Wang Hao Yan Baoshan Niu Xincheng Wang Yafeng Li Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Academy for Engineering & Technology Fudan University Shanghai China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor information of fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot

引用

IOP Conference Series: Materials Science and Engineering 2019年第6期490卷

作者： Hongbo Wang Musong Lin Yonggan Yan Guowei Liu Bowen Su Chaosheng Zhao Fuhao Wang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Academy for Engineering & Technology Fudan University Shanghai China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

This paper proposes a new hybrid (parallel–serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Corrigendum to “Fault-tolerant strategy and experimental study on compliance assembly of a redundant parallel six-component force sensor” [Sens. Actuators A: Phys. 272 (2018) 114–124]

引用

Sensors and Actuators A: Physical 2018年 277卷 199-199页

作者： Jiantao Yao Danlin Wang Dajun Cai Yundou Xu Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China

来源：评论

学校读者我要写书评

暂无评论

Synthesis of Branched Chains with Actuation Redundancy for Eliminating Interior Singularities of 3T1R parallel Mechanisms

引用

Chinese Journal of Mechanical Engineering 2016年第2期29卷 250-259页

作者： LI Shihua LIU Yanmin CUI Hongliu NIU Yunzhan ZHAO Yanzhi Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao 066004 China Hebei Vocationa & Technical College of Building Materials Qinhuangdao 066004 China

Although it is common to eliminate the singularity of parallel mechanism by adding the branched chain with actuation redundancy, there is no theory and method for the configuration synthesis of the branched chain with actuation redundancy in parallel mechanism. Branched chains with actuation redundancy are synthesized for eliminating interior singularity of 3-translational and 1-rotational（3T1R） parallel mechanisms. Guided by the discriminance method of hybrid screw group according to Grassmann line geometry, all the possibilities are listed for the occurrence of interior singularities in 3T1R parallel mechanism. Based on the linear relevance of screw system and the principles of eliminating parallel mechanism singularity with actuation redundancy, different types of branched chains with actuation redundancy are synthesized systematically to indicate the layout and the number of the branched chainsinterior with actuation redundancy. A general method is proposed for the configuration synthesis of the branched chains with actuation redundancy of the redundant parallel mechanism, and it builds a solid foundation for the subsequent performance optimization of the redundant actuation parallel mechanism.

关键词： parallel mechanism interior singularity hybrid screw group branched chain with actuation redundancy

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：