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Kinematics and Dynamics Hessian Matrices of Manipulators Based on Screw Theory

Chinese Journal of Mechanical Engineering 2015年第2期28卷 226-235页

作者： ZHAO Tieshi GENG Mingchao CHEN Yuhang LI Erwei YANG Jiantao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling ***,the traditional representations cannot achieve this because of the absence of coordinate ***,the coordinate invariant method is an important research ***,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is *** on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is ***,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is *** formulae and the dynamics Hessian matrix are proved to be coordinate *** to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is *** index of dynamical coupling based on dynamics Hessian matrix is *** the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics *** screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.

关键词： kinematics dynamics Hessian matrix parallel manipulator screw theory

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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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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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Development and experimental study of a novel weak coupling parallel three-dimensional force sensor

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ICIC Express Letters, Part B: Applications 2016年第11期7卷 2435-2442页

作者： Zhao, Yanzhi Jiao, Leihao Weng, Dacheng Li, Yang Liu, Xiaoxiao Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University No. 438 Hebei Ave. Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education of China Yanshan University No. 438 Hebei Ave. Qinhuangdao066004 China

In order to effectively reduce the effect of coupling, a novel mechanical decoupling parallel three-dimensional force sensor with the steel ball structure is designed and developed, and the static calibration of the sensor is carried out. The rolling friction is applied instead of sliding friction to the design of the mechanical decoupling parallel three-dimensional force sensor. The mathematic model of the sensor is established, and the force mapping relationship of the applied external force and the force of measuring branches of the sensor is derived based on the screw theory. The prototype of the mechanical decoupling parallel three-dimensional force sensor is developed, and the load calibration and data acquisition experiment system are developed, and the static calibration is performed. The calibration data are analyzed by using the least-squares method and the experimental result shows that the interference error is less than 0.45% and the measurement error of the sensor prototype is less than 0.6%, which indicate that the developed mechanical decoupling parallel three-dimensional force sensor possesses high measurement accuracy, and the result of the study lays the foundation of the application of the mechanical decoupling parallel three-dimensional force sensor. © 2016 ICIC International.

关键词： Least squares approximations

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Operation and Force Analysis of the Guide Wire in a Minimally Invasive Vascular Interventional Surgery robot system

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 249-257页

作者： YANG Xue WANG Hongbo SUN Li YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University School of Mechanical Engineering University of Jinan Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Faculty of Science and Technology Bournemouth University

To develop a robot system for minimally invasive surgery is significant,however the existing minimally invasive surgery robots are not applicable in practical operations,due to their limited functioning and weaker perception.A novel wire feeder is proposed for minimally invasive vascular interventional *** is used for assisting surgeons in delivering a guide wire,balloon and stenting into a specific lesion *** contrasting those existing wire feeders,the motion methods for delivering and rotating the guide wire in blood vessel are described,and their mechanical realization is presented.A new resistant force detecting method is given in *** change of the resistance force can help the operator feel the block or embolism existing in front of the guide *** driving torque for rotating the guide wire is developed at different *** the CT reconstruction image and extracted vessel paths,the path equation of the blood vessel is *** the shapes of the guide wire outside the blood vessel,the whole bending equation of the guide wire is *** is a risk criterion in the delivering *** process can make operations safer and man-machine interaction more reliable.A novel surgery robot for feeding guide wire is designed,and a risk criterion for the system is given.

关键词： minimally invasive wire feeder force analysis moment of inertia risk criterion

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CSP and 'omics' technology apllied on versatile and intelligent portable platform for modeling complex bio-medical data

CSP and 'omics' technology apllied on versatile and intellig...

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2016 International Conference on Advanced mechatronic systems, ICAMechS 2016

作者： Vladareanu, Luige Iliescu, Mihaiela Wang, Hongbo Yongfei, Feng Vladareanu, Victor Yu, Hongnian Smarandache, Florentin Robotics and Mechatronics Department Institute of Solid Mechanics of the Romanian Academy 010141 C-Tin Mille 15 Romania Romania Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Oinhuangdao China Faculty of Electronics II University Politehnica of Bucharest 313 Splaiul Independentei Bucharest060042 Romania School of Design Engineering and Computing Bournemouth University Poole DorsetBH12 5BB United Kingdom Department of Mathematics University of New Mexico 705 Gurley Avenue GallupNM87301 United States

ISBN: (纸本)9781509053469

This paper presents relevant aspects of the idea of using the digital medicine in cancer, so that to shape a viable strategy for creating and implementing an interactive digital platform, NEO-VIP, that should be the basic support to design the strategy for integration of basic, clinical and environmental research on neoplasia progression to cancer. The two main components of the VIPRO Platform are represented by the workstation 'Engineering Station' for CPS (Cyber Physical system) and 'omics' technology and by the 'Graphical Station' for the development of a virtual mechatronic system environment and virtual reality for system components' motion. The NEO-VIP Platform will consolidate the collaboration of specialized institutions in IT, medicine, health, life standards so that to enhance their capabilities to work as a consortium. The results lead to the possibility developing NEO-VIP Platform in the IT modelling field, applied on bio-medical data, as a new player alongside with the existing ones. So, new improved methodologies for investigating social implications of machines working with and for people will be applied. © 2016 IEEE.

关键词： Cyber Physical system

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Active training research of a lower limb rehabilitation robot based on constrained trajectory

Active training research of a lower limb rehabilitation robo...

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International Conference on Advanced mechatronic systems (ICAMechS)

作者： Hongbo Wang Dong Zhang Hao Lu Yongfei Feng Peng Xu Razvan-Viorel Mihai Luige Vladareanu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Mechatronics Laboratory Institute of Solid Mechanics Bucharest Romania

In order to help patients achieve effective and coordinating multi-joints movement easily, the paper presents an active training method of a lower limb rehabilitation robot based on constrained trajectory. The realization process of the method is as follows. The patient's movement intention is recognized by analyzing the signals from torque sensors installed in rehabilitation robot joints, and the moving velocity of the mechanical arm terminal is calculated through the establishment of the damping function and the design of constrained trajectory. The velocity of joints can be calculated through kinematic Jacobi matrix, and is used to drive the joints. The moving velocity of the mechanical arm terminal on a constrained trajectory can be controlled through adjusting the damping function, in order to achieve the active rehabilitation training for different patients at different levels. Finally, the feasibility of the method is validated by the experiment.

关键词： Decision support systems robots Training Damping Erbium Conferences mechatronics

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Mobility and motion analysis of a special 3-UPU parallel mechanism 14

Mobility and motion analysis of a special 3-UPU parallel mec...

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14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Chen, Ziming Zhang, Yang Huang, Kun Ding, Huafeng Huang, Zhen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China Faculty of Mechanical and Electronic Information China University of Geosciences Wuhan China

ISBN: (纸本)9789860460988

In this paper, the mobility and motion characteristics of a special 3-UPU parallel mechanism (PM) are studied. Using the screw theory and geometric method, the mobility of this PM is analyzed. When the moving platform and the base are not parallel, it has two rotational and one translational DOF. There is always a midperpendicular plane between the base and the moving platform. The moving platform can realize continuous rotation about any fixed axis or any fixed point on the midperpendicular plane and can have continuous translation along the normal line of the midperpendicular plane. Two numerical examples of the continuous motion are given.

关键词： Motion analysis

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Forced vibration frequency response for a permanent magnetic planetary gear

Forced vibration frequency response for a permanent magnetic...

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International Conference on Vibroengineering - 2015

作者： Zhu, Xuejun Hao, Xiuhong Qu, Minggui Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China School of Materials Science and Engineering Yanshan University Qinhuangdao China

The time and frequency forced responses for the permanent magnetic planetary gear drive were computed and analyzed. The influence of air gap between sun gear and planetary gear to frequency forced responses is discussed. Results show that the changes of air gap have obvious effects on the low frequency vibration amplitude of elements. When air gap is too large or too small, it will seriously affects the dynamic performance of the system. So, selecting rational system structure parameters is very important, which can avoid system elements generating larger vibration. © JVE International Ltd.

关键词： Frequency response

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Actuation singularity analysis of a 3-RPS rotational parallel mechanism 14

Actuation singularity analysis of a 3-RPS rotational paralle...

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14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Chen, Ziming Huang, Kun Zhang, Yang Huang, Zhen Ding, Huafeng Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China Faculty of Mechanical and Electronic Information China University of Geosciences Wuhan430074 China

ISBN: (纸本)9789860460988

In this paper, a particular actuation singularity of a 3-RPS symmetrical rotational parallel mechanism (PM) is studied. When the movable platform of this PM is restricted to rotate about the vertical axis of the base, it is equivalent to a single loop mechanism (SLM). By analyzing the constraint properties of the SLM, the motion characteristics of this 3-RPS rotational PM under this motion are obtained and the actuation singularity is determined. This kind of singularity will happen when the actuated joints reach the extreme values which is similar to the dead point singularity of the planar slider-crank mechanism. The same kind of singularity occurs to this class of 3-DOF symmetrical PMs with similar structure and motion properties.

关键词： Mechanisms

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