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Dynamic Modeling Method of Spatial Passive Over-constrained parallel Mechanism Based on Newton Euler Method

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2020年第11期56卷 48-57页

作者： Li, Yongquan Guo, Yu Zhang, Yang Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The 4-RPTR four-degree-of-freedom space passive over-constrained (redundant constrained) parallel mechanism is taken as the research object, and the Newton Euler method combined with the complementary deformation coordination equation is used to analyze the dynamics. The number of dynamic equations based on Newton's Euler method is 78, but due to the existence of passive over-constraints of the mechanism, the unknown variables of the required solutions are 80. When the eight deformation coordination equations are added according to the method of planar over-constrained mechanism, it will be linearly related to the 78 equations built, resulting in the equations being unable to solve. Based on this, when proposing the dynamics modeling of passive over-constrained parallel mechanism, the reason for the passive over-constraint of the mechanism should be analyzed firstly. On this basis, adding the deformation of the member caused by the redundant constrained force (torque) and the position and posture error of the terminal platform as a complementary equation ensures that the equations are linearly independent and can be solved. To this end, the relationship between the deformation of the rod and the position and posture error of the terminal platform caused by the rotational joint restraining torque directly causing the redundant constraint is introduced, and eight deformation coordination equations are added, and six unknown variables are introduced, thereby obtaining 86 equations. Containing 86 unknowns, and the equations are linearly independent, the dynamic solution model of the mechanism is obtained. Based on matlab and adams software, the dynamics simulation of the mechanism is carried out. When the same motion trajectory is given at the terminal of the platform, the correctness of the dynamic model can be seen by comparing the driving force variation curves of the two methods. It provides a new idea for dynamic modeling of this type of space passive over-constrai

关键词： Dynamics

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New Method for Type Synthesis of 2R1T Redundant Driven parallel Mechanisms

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2019年第23期55卷 25-37页

作者： Li, Yongquan Zhang, Yang Guo, Yu Li, Xuran Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

In the fields of milling, riveting and welding, 2R1T DOF actuators are required, especially in high stiffness, large workspace, good driving stability and other occasions, redundant actuators are required to improve the performance of 2R1T parallel mechanism. Therefore, based on Grassmann linear geometry and atlas method, a new method for typy synthesis of 2R1T redundant actuated parallel mechanism is proposed. The degree-of-freedom curve of the moving platform is obtained according to the motion mode of the mechanism, and then the constraint curve of the moving platform is obtained according to the dual rule. The redundant constraint curve and its equivalent curve were obtained by adding redundant lines to the moving platform constraint curve. According to the allocation principle of branch chain constraint, it is divided into 7 schemes. The corresponding branch chain are constructed based on the constraint scheme by using the atlas method, and the preliminary type of the mechanism is synthesized according to the selection and allocation rule of the branch chain. Each scheme synthesizes 12, 67, 96, 0, 12, 48 and 16 new types respectively, and a total of 251 new types are synthesized, including some 2R1T redundant parallel mechanisms studied in literature. The instantaneous analysis of the synthesized mechanism is carried out by the atlas method, and it is found that the synthesized mechanism of scheme 1 and scheme 2 is instantaneous. An improved method of coaxial placement with a pair of parallel force constraints in this kind of mechanism is proposed to eliminate its instantaneity. The feasibility and rationality of the synthesis method are verified by instantaneous analysis. The method is also suitable for type synthesis of redundant 4, 5 and 6 DOF parallel mechanisms. © 2019 Journal of Mechanical Engineering.

关键词： Mechanisms

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The stability performances improvement through kinematic and dynamic modeling of the hopping robots 10

The stability performances improvement through kinematic and...

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10th UKACC International Conference on Control, CONTROL 2014

作者： Bruja, Adrian Vladareanu, Luige Yu, Hongnian Wang, Hongbo Liu, Jingjing Bucharest Romania School of Design Engineering and Computing Bournemouth University Poole DorsetBH12 5BB United Kingdom Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Lab. of Adv. Forging and Stamping Technol. and Sci. of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (纸本)9781479950119

The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind speed which can prevent our robot to reach the desired destination, and compensated with an initial velocity on the direction of movement. For testing we designed a simulation which had as inputs different initial conditions to test and present the jumping capability of our robot in different jumping conditions. In the end we provide a jump area which the robot can reach for certain initial conditions, so we can later chose the optimal one for reaching the target position. © 2014 IEEE.

关键词： Machine design

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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 2010

作者： Wang, Zhijun Yao, Jiantao Wang, Hang Hou, Yulei Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao Hebei 066004 China School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing 100044 China

ISBN: (纸本)9780769540313

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. © 2010 IEEE.

关键词： Natural frequencies

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Research on the lower limb gait rehabilitation

Research on the lower limb gait rehabilitation

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IEEE International Conference on mechatronics and Automation

作者： Hongbo Wang Jianshuang Wu Yubo Wang Lingxue Ren Dong Zhang Hao Lu 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 Yanshan University Qinhuangdao China

ISBN: (纸本)9781479939800

This paper proposes a lower limbs gait rehabilitation machine which is used to help the patients to recover walking ability of lower limbs. The machine includes left leg gait training mechanism and right leg gait training mechanism, and each mechanism consists of a four-bar mechanism with one degrees of freedom and a foot plate. Since the crank of the four-bar mechanism on the both sides is driven by one motor and each foot plate on the both sides is driven by one motor, the robot has three degrees of freedom. The robot can simulate human walking to achieve the purpose of recovering walking function. In this paper, the design idea and parameter optimization are described, the kinematics and dynamics are analyzed, and the virtual prototype design and simulation are done. The simulation results can be further applied for the optimization of the mechanical parameters while supplying necessary data and building a theoretical foundation for subsequent research.

关键词： Training Trajectory Legged locomotion Foot Force Equations

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Isotropic Analysis of Line Vector Forces and Its Application in Type Synthesis of Mechanisms

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Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 2019年第1期50卷 406-411页

作者： Xu, Yundou Guo, Jinwei Wang, Zhifeng Chen, Yang Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forgingand Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao066004 China Capital Aerospace Machinery Co. Ltd. Beijing100076 China

The carrying capacity of a mechanism is closely related to its line vector force. A thorough isotropic analysis of line vector forces was presented. The results showed that the isotropic condition can be satisfied when the line vector forces were evenly distributed on a conical surface with a cone-top angle of 109.472°. In addition, since few three degrees-of-freedom (DOFs) translational redundantly actuated parallel manipulators were reported, by combining the isotropic line vector forces, a method for the type synthesis of 3-DOF, redundantly actuated translational parallel mechanisms (PMs) was proposed, in which the arrangement of the active joints was taken into account in advance. Using this method, firstly a kinematic chain with a twist system reciprocal to both the constraint and actuation wrenches was constructed, and then the active joint reciprocal to the constraint wrenches but not to the actuation wrench was constructed. Thus, a series of typical redundantly actuated PMs with isotropic actuation forces were obtained. Finally, the 4-PRRR PM was analyzed as an example, and the results showed that the isotropy of the load-carrying capacity can always be satisfied during its movement, because the condition of force Jacobian matrix was always equal to one, which to some extent verified the correctness of the isotropic analysis and the synthesis method proposed in this research. For this method, it not only satisfied the expected requirements, but also meant that the active joints no longer needed to be selected, and the rationality of the selection did not need to be considered, which provided a new method for the type synthesis of parallel manipulators. © 2019, Chinese Society of Agricultural Machinery. All right reserved.

关键词： Vectors

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

Research on Active Training Model of Rehabilitation Robot Ba...

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第二届计算智能、工程与技术国际研讨会

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 Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Academy for Engineering & Technology Fudan University

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 *** to the damping control strategy, the end force and speed mapping function planning is *** joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion.

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

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

Dynamics analysis and simulation of a new 6-DOF lower limb r...

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第二届计算智能、工程与技术国际研讨会

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 Academy for Engineering & Technology Fudan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

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

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Comfort degree of patients' rehabilitation training based on DSmT theory

Comfort degree of patients' rehabilitation training based on...

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第二届计算智能、工程与技术国际研讨会

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

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 informationof 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： Comfort degree of patients rehabilitation training based on DSmT theory

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Analysis and prediction of multi-joint coupling torque of fingers

Analysis and prediction of multi-joint coupling torque of fi...

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2019 Intelligent Rehabilitation and Human-machine Engineering Conference (IRHE-2019)

作者： Jinxu Yu Lin Zheng Xiaolin Bai Yihao Du Lijie Zhang Ping Xie Hebei Province Key Laboratory of Parallel Robot and Mechatronic System Institute of Mechanical Engineering Yanshan University Qinhuangdao China Hebei Province Key Laboratory of Intelligent Rehabilitation and Neuromodulation Institute of Electric Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9781839534430

In this paper, a method of analysis and modelling of multi-joint coupling torque of finger is proposed, which can be used to predict the multi-joint coupling torque of finger in real time. Firstly, through the analysis of muscle contraction dynamics and muscle activation dynamics, the single joint neuromusculoskeletal model of finger was established, and the joint torques of metacarpophalangeal (MCP) joint, proximal interphalangeal (PIP) joint and distal phalangeal (DP) joint were solved. Then, the finger D-Η model was established, and the joint torques of MCP joint and PIP joint were equivalent to the point of DP joint by the principle of virtual work. The multi-joint neuromusculoskeletal model of the finger is established, and the coupling torque of the whole finger during flexion and extension is obtained. Finally, 17 parameters in the finger multi-joint neuromusculoskeletal model were identified, and data acquisition experiments were set up. The model prediction torque and software simulation torque were compared, and the root mean square error (RMSE) of the coupling torque is 0.3275, which indicates that the model has a good effect in predicting the finger joint torque and the multi-joint coupling torque.

关键词： Quality function deployment

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