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Journal of Mechanical Engineering Research and Developments 2014年第2期37卷 58-70页

作者： Lu, Y. Liu, Y. Dong, Y.S. College of Mechanical Engineering Yanshan University Qinhuangdao Hebei China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Lab. of Adv. Forging and Stamping Technol. and Sci. of Min. of Natl. Educ. Qinhuangdao Hebei China

The parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized and a closed forward displacement analysis is performed for a novel 5-DoF parallel manipulator (PM) with 2 equivalent composite universal joints Ue. First, ten novel parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized. Second, the kinematic model of a 5-DoF 4SPS+SPR PM with 2 composite spherical joints Sc are established. Third, the novel 5-DoF PM with 2Ue is created based on 4SPS+SPR PM by replacing each of 2Sc with Ue, and the formulae are derived for solving forward displacement of the proposed 5-DoF PM with 2Ue. Finally, an analytic example is given for solving the forward displacement of proposed 5-DoF PM with 2Ue, and the analytic solved results are verified by the simulation mechanism using CAD variation geometry.

关键词： Kinematics

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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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Modified formula of mobility for mechanisms

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 8918卷 535-545页

作者： Lu, Wenjuan Zhang, Lijie Zhang, Yitong Ma, Yalei Cui, Xiaoxu Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao066004 China

How to determine the degree of freedom (DOF) of parallel mechanisms (PMs) and multiloop spatial mechanisms has been a long standing problem, and it still is an active field of research with plenty open questions. Firstly, three categories formulas expressed with loop-unit are introduced from a new perspective of their treatment for the motion parameter of each independent closed loop(ICL). Secondly, based on some concepts and theory of link group, the analysis provides insight into why the previous formulas do not work for some multiloop mechanisms. Then a modified formula is presented by adding an addition index called loop-redundant-rank, meanwhile the steps of estimate of mobility property are presented. Finally a typical examples is selected to calculate the DOF with the formula mentioned above. And the results coincide with the prototype data, which shows the effectiveness of the proposed method to a certain extent. It can be seen that the formula presented in this paper can do quick mobility calculation and mobility property analyses of parallel mechanisms with elementary legs. © Springer International Publishing Switzerland 2014.

关键词： Mechanisms

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Game Scene Construction for Lower Limb Rehabilitation robot Based on Virtual Reality

Game Scene Construction for Lower Limb Rehabilitation Robot ...

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International Conference on Electromechanical Control Technology and Transportation (ICECTT)

作者： Yongfei Feng Di Jin Qianjun Shao Jianye Niu Luige Vladareanu Hongbo Wang Faculty of Mechanical Engineering & Mechanics Ningbo University Ningbo China Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Hebei University of Technology Tianjin China Robotics and Mechatronic Department Institute of Solid Mechanics of the Romanian Academy Bucharest Romania Parallel Robot and Mechatronic System Laboratory of Hebei Province and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (数字)9781728199283

ISBN: (纸本)9781728199290

At present, the number of patients with lower extremity dysfunction is increasing year by year. However, traditional rehabilitation training cannot meet the needs of patients for rehabilitation training. Rehabilitation robot is a good solution to train patients instead of the rehabilitation physician. Based on clinical practice experience, a lower limb rehabilitation training system based on virtual reality (VR) is designed, which combined the VR technology and rehabilitation evaluation program to improve the rehabilitation efficiency of patients. According to the functional requirements of the lower limb rehabilitation robot (LLR-RO), the construction of rehabilitation robot control system and sensor system is completed. Based on the Unity3D development environment, a VR scenes of space shooting is planned and created for rehabilitation training VR technology which enables patients to complete the training process while maintaining a pleasant mood. Through the software and hardware debugging, the feasibility, data transmission capability of VR-based remote rehabilitation training system and the synchronization performance of VR scenes and rehabilitation robots are verified. In the future, more virtual reality scenes will be studied to adapt to patients of different genders and ages.

关键词： Games Training Rehabilitation robotics Space vehicles Legged locomotion Aircraft Aerospace electronics

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Redundantly actuated mechanism synthesis of the symmetrical unconstrained branched chain parallel mechanism

Redundantly actuated mechanism synthesis of the symmetrical ...

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International Conference on Modelling, Identification and Control (ICMIC)

作者： Yanmin Liu Shihua Li Zhili Tian Jianhua Zhang College of Mechanical Engineering Hebei Vocationa & Technical College of Building Materials Qinhuangdao Hebei China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao Hebei China School of Electrical Engineering Hebei University of Science and Technology Shijiazhuang Hebei China

A mechanism synthesis method on redundantly actuated branched chain of symmetrical unconstrained branched chain parallel mechanism was put forward in this paper, and the redundantly actuated branched chain and its number of the lower-mobility parallel mechanism with 4 degrees of freedom (DOF) were synthesized. First the brached chain with less rods of one line vector, one couple and mixture of line vectors and couples were selected, based on synthesis method on redundantly actuated branched chain of uncontrained branched chain parallel mechanism, the redundantly actuated parallel mechanism with practical meanings of 4 DOF was synthesized; Under different branched chain constrained screw systems, the corresponding number of redundanly actuated branched chains was given out. And a 4-SPS/RzPzUxy parallel mechanism was synthesized out. The research result showed that the method was simple and effective.

关键词： Fasteners Kinematics Force Conferences Actuators parallel robots mechatronics

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Roller straightening process and FEM simulation for stainless steel clad plate

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Open Mechanical Engineering Journal 2014年 8卷 557-561页

作者： He-Ong, Jin Ya-Li, Yi Xue-Yan, Han Yan, Liang Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China

Based on elasto-plastic deformation straightening theory and adopting 11 rolls plate straightening mode, the isothermal residual curvature straightening process is proposed for stainless steel clad plate. The straightening mathematical model is established to realize plate shape finishing and stress reforming. By using finite element analysis software, establishing straightening process and determining intermesh, the effects of intermesh on shape and residual stress are analyzed. The results indicate that the straightening process meet the finishing plainness of stainless steel clad plate after rolling. Longitudinal residual stress of the clad plate is evenly distributed across width. The cladding plate and steel substrate are symmetrical and the ascent of stress near the edge is greater. Longitudinal residual stress across length is distributed with the wave of pull-press-pull and the cladding plate and base plate are symmetrical. The above researches are based on the previous theory of the application of stainless steel clad plate straightening technology. © 2014, He-Rong et al.;Licensee Bentham Open.

关键词： Stainless steel

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Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

Research Square

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Research Square 2021年

作者： Guo, Jinwei Zhao, Yongsheng Chen, Bo Zhang, Guoxing Xu, Yundou Yao, Jiantao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of National Education Yanshan University Qinhuangdao066004 China

Considering the limb axial deformation, taking typical 2SS+P and 7-SS passive overconstrained mechanisms, 2SPS+P and 7-SPS active overconstrained mechanisms, and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples, a new force analysis method based on the idea of equivalent stiffness is proposed. The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations. The relationship between the constraint wrench magnitudes and the external force, limb stiffness is established. The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations. Here, the relationship between the magnitudes of the actuated wrenches and the external force, limb stiffness is investigated. Combining with the equivalent stiffness of the passive overconstrained mechanism, an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement, limb stiffness is explored. Finally, adaptability of the equivalent stiffness to overconstrained mechanisms is discussed, and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed. © 2021, CC BY.

关键词： Stiffness

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Type Synthesis of Fully Decoupled Three Translational parallel Mechanism with Closed loop Units and High Stiffness

Research Square

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Research Square 2021年

作者： Li, Shihua Wang, Sen Li, Haoran Wang, Yongjie Chen, Shuang Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan University China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

In this paper, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stiffness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrench screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed-loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stiffness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stiffness fully decoupled 3T PM. Kinematic and stiffness analyses show that the Jacobian matrix is a diagonal matrix, and the stiffness is obviously higher than that of the orthogonal coupling mechanisms, which verifies the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform. © 2021, CC BY.

关键词： Stiffness

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Inverse Kinematics of 2(3-Rps) and 2(3-Spr) Serial-parallel Manipulators

SSRN

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SSRN 2022年

作者： Ye, Nijia Xu, Ziwei Wang, Ren Feng, Miaomiao Hu, Bo School of Mechanical Engineering Yanshan University Hebei Qinhuangdao066004 China School of Information Science and Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Hebei Qinhuangdao066004 China

This paper solves the inverse kinematics of the serial-parallel manipulators(S-PMs) formed by the 3-RPS and the 3-SPR modularized parallel manipulators (PMs), including the 2(3-RPS) and the 2(3-SPR) S-PMs. First, the vectorial expressions of the revolute joints and the length of legs in the base coordinate system of the whole S-PMs are built. Second, based on the geometric constraints in the S-PMs, the constraint equations of the single 3-RPS/3-SPR module are established. Third, by integrating the single constraint equations of the module, the complete constraint equations concerned with the structural dimensions, the length of legs to be determined, the unknown kinematic parameters of the middle platform and the known kinematic parameters of the terminal platform are derived. Then, by using the Sylvester elimination method, the unknown kinematic parameters of the middle platform are obtained, and the inverse displacements are solved. Finally, the established models are verified by two examples. This paper provides a general inverse kinematics solution for the 2(3-RPS) and the 2(3-SPR) S-PMs. © 2022, The Authors. All rights reserved.

关键词： Inverse kinematics

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Semantic Segmentation of Surgical Instruments based on Enhanced Multi-scale Receptive Field

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Journal of Physics: Conference Series 2021年第1期2003卷

作者： Dong, Yu Wang, Hongbo Luo, Jingjing Lai, Zhiping Wang, Fuhao Wang, Jiawei Academy for Engineering and Technology Fudan University Shanghai200433 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China

With the rapid development of robot assisted surgery, the segmentation of surgical instruments becomes more and more important. However, compared with the natural scene segmentation, surgical instrument segmentation is more difficult. To solve this problem, we improve a high and low resolution fusion module, which aims to extract detail information and context information from the fusion feature map of high and low resolution. Then, in the last layer of the encoder, we propose the Enhanced Multi-scale Receptive Field module to generate more available receptive fields. Our method is validated on 2017 MICCAI EndoVis robotic Instrument Segmentation Challenge dataset, and the result is better than the other methods. The extended experiment is carried out on the dataset of our surgical soft robot which has a content implementation. © Published under licence by IOP Publishing Ltd.

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