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International Conference on Software, Knowledge Information, Industrial Management and Applications (SKIMA)

作者： Marcel Migdalovici Luige Vladareanu Gabriela Vladeanu Said Broumi Daniela Baran Florentin Smarandache Hongbo Wang Yonfei Feng Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest Romania Faculty of Science Ben M'Sik University Hassan II Casablanca Morocco Dynamical Systems National Institute of Aircraft Research “Elie Carafoli” Bucharest Romania Department of Mathematics University of New Mexico Gallup NM USA Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (纸本)9781509032990

A survey of some author's concepts on the dynamic systems stability regions, in the general case of dynamic systems that depend on parameters is related in the paper. The property of separation of stable regions in the free parameters domain is assumed in the paper as an important property of the environment that is carry out and in the specified case of walking robot analyzed in the paper. The matrix that defines the linear dynamic system has the components of the matrix, assumed to be with real values, and the matrices that intervene in the exposure of the method are also, with real values of the components. We assumed that the matrices from the exposure have the complex values such that the real values are also taken into account as particular case of the complex values. This hypothesis assures a new method of analysis, in the complex domain, on the dynamic systems stability. Our theory on the stability control of the dynamic systems is applied here for specified walking robot model that depend on parameters. The critical position of the walking robot evolution is defined and analyzed on some cases of the walking robot leg, and possible application for robot walking up stairs is exposed. The further way of research is emphasized.

关键词： Legged locomotion Eigenvalues and eigenfunctions Matrices Heuristic algorithms Stability analysis Mathematical model

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Nonlinear forced vibration of electromechanical integrated magnetic gear system

Nonlinear forced vibration of electromechanical integrated m...

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IEEE International Conference on mechatronics and Automation

作者： Xiuhong Hao Xuejun Zhu School of Mechanical Engineering Yanshan University Qinhuangdao China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China

ISBN: (纸本)9781479970995

A novel magnetic gear drive, the electromechanical integrated magnetic gear (EIMG) is proposed, in which field modulated magnetic gear, drive and control are integrated. EIMG can offer the larger torque at a lower speed. Considering the obvious nonlinear characteristics of the electromagnetic coupling forces among components, the nonlinear differential equations with quadratic terms are founded. Forced responses of the nonlinear EIMG system are calculated and discussed when the exciting frequency is closed to the torsional modal combination frequency between the inner rotor and the outer ferromagnetic pole-pieces. The results show that the strong and continuous resonance doesn't occur, but the strong transient vibration will occur and the amplitudes of components will decrease very slowly. These will deteriorate the dynamic behaviors of EIMG system.

关键词： Stators Rotors Gears Magnetic resonance Electromagnetic coupling Air gaps Damping

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Kinetostatics Analysis of a Novel 6-DOF parallel Manipulator with Three Planar Limbs and Equipped with Three Fingers

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Chinese Journal of Mechanical Engineering 2014年第5期27卷 919-927页

作者： LU Yi LI Xuepeng College of Mechanical Engineering Yanshan University Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education

It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator（PM）.However,the existing6-DOF PMs include spherical joint which has less capability of pulling force bearing,less rotation range and lower precision under alternately heavy loads.A novel 6-DOF PM with three planar limbs and equipped with three fingers is proposed and its kinematics and statics are analyzed systematically.A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics is *** kinematics formulae for solving the displacement,velocity,acceleration of the platform,the active legs and the fingers are *** statics formulae are derived for solving the active forces of PM and the finger *** analytic example is given for solving the kinematics and statics of proposed manipulator and the analytic solved results are verified by the simulation *** is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its manufacturing,control and application.

关键词： parallel manipulator planar limbs finger kinematics statics

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Rotational axes analysis of the 2-RPU/ SPR 2R1T parallel mechanism 1

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20th CISM-IFToMM Symposium on Theory and Practice of robots and Manipulators, ROMANSY 2014

作者： Xu, Yundou Zhou, Shasha Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao Hebei066004 China

ISBN: (数字)9783319070582

ISBN: (纸本)9783319070575

This paper presents a novel 2-RPU/SPR 2R1T parallel mechanism, which has one translational degree of freedom (DOF) and two rotational DOFs. The properties of the rotational axes of the mechanism are analyzed by using screw theory, and the results show that the 2-RPU/SPR mechanism has two rotational continuous axes. The position analysis of the 2-RPU/SPR mechanism is also carried out. The proposed 2R1T mechanism has very simple kinematic model, which reduces difficulties in calibrating kinematic parameters. © Springer International Publishing Switzerland 2014.

关键词： Mechanisms

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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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Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis

Design of in-pipe 3SPR/3RPS parallel manipulator and its kin...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yi Lu Jingjing Yu Chunping Sui Jianda Han College of Mech Eng Yanshan University Qinhuangdao Parallel robot and mechatronic system laboratory of Hebei province Hebei P. R. China Department of Mechatronics Heibei Normal University of Science & Technology Qinhuangdao Hebei P. R. China State Key Laboratory of Robotics Shenyan Institute of Automation Liaoning PR China

An in-pipe robot must be able to adapt to the various geometric changes of pipes and have large enough load carrying capacity in order to move freely in industry pipe and drag heavy load. A novel in-pipe 3SPR/3RPS type parallel manipulator is proposed and its kinematics is analyzed in this paper. First, an in-pipe parallel manipulator with multi-foot is designed, and its principle and characteristics are explained. Second, the kinematics formulae are derived for solving the displacement, velocity and acceleration of foot mechanism and parallel manipulator. Third, the statics formulae are derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator. Finally, an analytic example is given for solving kinematics and statics of the in-pipe parallel manipulator and analytic solutions are verified by simulation solution.

关键词： Foot Force Legged locomotion Kinematics Manipulators

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Analysis and simulation of parallel lifting mechanism for schnable car based on complex vector 2

Analysis and simulation of parallel lifting mechanism for sc...

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2nd International Conference on Applied mechatronics and Android robotics, ICAMAR 2014

作者： Zhao, Yan-Zhi Wang, Xiang-Nan Bai, Xue-Gang Ren, Yu-Bo Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University China Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9783038353119

The working conditional model of schnable car has been established and the principle of lifting mechanism has been analyzed. By complex vector method, we analyze the kinematics of the lifting mechanism and get the position, speed and acceleration curves of relevant objects under the lifting progress. We have a static analysis on lifting mechanism, and get the relationship curve of the cylinder’s force and generator’s mass by mathematical Calculation. Kinematics simulation test is proceeded by ADAMS. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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Measuring limitation analysis of six-axis wrist force sensor based on screw theory 4

Measuring limitation analysis of six-axis wrist force sensor...

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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Wang, Zhi Jun Liu, Wan Yu He, Jing Li, Zhan Xian Zhao, Yong Sheng College of Mechanical Engineering Hebei United University Tangshan China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

When robot do contact operation task to unknown environment, it often need wrist force sensor to check contact force information between robot and environment then judge the contact state, and check the information feedback to control system for completing operation smoothly. This paper analyze the measure theory of robot end wrist six-axis force sensor based on screw theory, propose and verify the limitation of six-axis wrist force sensor for measuring the six-dimensional force online. © (2014) Trans Tech Publications, Switzerland.

关键词： robots

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Design and analysis of a novel heavy-load positioner with series-parallel mechanism 4

Design and analysis of a novel heavy-load positioner with se...

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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Tang, Yan-Hua Parallel robot and mechatronic system laboratory of Hebei province Yanshan University QinhuangdaoHebei China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei China

ISBN: (纸本)9783038352570

A heavy-load positioner with series-parallel mechanism was put forward according to the heavy-load positioner’s task demand. Two rotational DOFs were realized by the spherical 3-DOF mechanism with a restricted embranchment instead of traditional gear-driven mechanism, the other by the serial part. The mechanism has the advantages of large workspace, good flexibility and high stiffness-to-weight ratio. The kinematics, statics and singularity of the positioner mechanism were analyzed. The mathematic model of the positioner mechanism was established. Combining the workspace demand of the positioner, dimension optimization of the mechanism was researched. Finally, the kinematics, statics and the singularity analysis of the positioner mechanism was verified through virtual prototype designed with one group of satisfied dimensions. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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Analysis of force transducer calibration accuracy based on different influence factors

Analysis of force transducer calibration accuracy based on d...

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作者： Zhao, Yan-Zhi Li, Gui-Tao Niu, Zhi Weng, Da-Cheng Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Ministry of Education of China Qinhuangdao 066004 China Ministry of Education of China Qinhuangdao 066004 China

ISBN: (纸本)9783038351221

The actual use conditions of force transducer is differences between the factory verificationconditions, so based on the structure and working principles, this article is aimed at accurate calibration and proper use of force transducer. Through the CAE simulations and calibration experiments in actual working conditions which are the installation pre-tightening force, structure of fittings and pedestal's hardness, analyses the output signals of force transducer. Force standard machine was carried out on the calibration experiment to verify the correctness of the numerical simulation. And then the outcomes obtained by numerical simulations and the calibration experiments, it studies the differences of every output performance index of force transducers in different working conditions above-mentioned. © (2014) Trans Tech Publications, Switzerland.

关键词： Calibration

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