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

作者： Zhu, Xue Jun Xu, Li Zhong Yanshan Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

The time and frequency forced responses for the permanent magnetic planetary gear drive were computed and analyzed. The influence of magnetization intensity and pole pair number to frequency forced responses is discussed. Results show that the dynamic displacement when only considering output excitation is larger than that when only considering input excitationand magnetic parameters have obvious effects on the low frequency vibration amplitude of elements. When magnetization intensity and pole pair number are too large or too small, they will seriously affect the dynamic performance of the system. So, selecting rational system structure parameters is very important, which can avoid system elements generating larger vibration. © (2014) Trans Tech Publications, Switzerland.

关键词： Frequency response

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Pre-tightening force analysis of a pre-stressed six-axis force sensor

Pre-tightening force analysis of a pre-stressed six-axis for...

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2014 International Conference on mechatronics, Electronic, Industrial and Control Engineering, MEIC 2014

作者： Wang, Zhijun He, Jing Liu, Wanyu Zhao, Yongsheng College of Mechanical Engineering Hebei United University Tangshan China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Tangshan Industrial Vocational Technical College Tangshan China

ISBN: (纸本)9789462520424

By using sphere pair with unilateral constraint, the limbs of the proposed pre-stressed six-axis sensor must be under pressure in the measurement process, so prior to measurement, a certain preload must be applied to the sensor. The viable limbs' number of the pre-stressed six-axis force senor is determined by using convex theorem. By solving the static equilibrium equation of sensor, the reacting forces on limbs are divided into two parts: the particular solution is generated by the external force, while the homogeneous solution is only concerned with the pre-tightening force. The number of parameters to be determined in homogeneous solution is decreased by linear transform, and the method for determining the pre-tightening force is derived to make all the limbs compressed when it is subjected to the expected range of external force. A numerical example to determine the pre-tightening force of the force sensor is performed. The numerical example results show that the force on limbs can always maintain positive value with the appropriate pre-tightening force, which proves the correctness of the theoretical analysis and the validity of the sensor structure. © 2014. The authors - Published by Atlantis Press.

关键词： Numerical methods

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Research on the temperature characteristics of movable tooth transmission motor of electromagnetic harmonic

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Open Automation and Control systems Journal 2014年第1期6卷 1980-1986页

作者： Yubo, Ren Lizhong, Xu Parallel Robot and Electromechanical System Laboratory Yanshan University QinghuangdaoHebei China

Based on the heat transfer characteristics of electromagnetic harmonic movable tooth transmission motor, this paper adopted the finite element method to establish a three-dimensional temperature field model for numerical calculation on the basis of four basic assumptions. It analyzed the heat loss and gave out the functional to calculate the temperature field within each medium and obtain the temperature distributing curves. Then taking the prototype as an example, it calculated the steady-state temperature field of the system under different loading. The comparison between the results and measured values has verified the reasonableness of the established model and calculation method employed. The results could provide a theoretical basis for the optimized design of electromagnetic harmonic tooth transmission system. © Yubo and Lizhong;Licensee Bentham Open.

关键词： Temperature

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Influence of structural parameters of electromagnetic harmonic movable teeth transmission on system loss

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Open Mechanical Engineering Journal 2014年 8卷 778-785页

作者： Ren, Yubo Xu, Lizhong Liang, Yongli Parallel Robot and Electromechanical System Laboratory Yanshan University Qinghuangdao Hebei China

In view of the characteristics of electromagnetic harmonic movable teeth transmission system, the heat loss has been analyzed in this paper based on basic assumptions. At the same time, the calculation methods of electromagnetic loss and mechanical loss in system have been also discussed. Moreover, the influence of changes of system parameters on electromagnetic loss and mechanical loss has been analyzed through employing the field-circuit coupling finite element method. According to the analysis results, the numerical calculation model of the three-dimensional temperature field of system can be established. And the theoretical basis can be provided for the optimization design of electromagnetic harmonic movable teeth transmission system and the improvement of transmission efficiency of transmission system. © Ren et al.

关键词： Finite element method

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Force measurement method and analysis of guide wire in minimally invasive cardiovascular interventional surgery

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Journal of Chemical and Pharmaceutical Research 2014年第1期6卷 266-270页

作者： Yang, Xue Wang, Hongbo Wang, Qiang Wu, Jianshuang Parallel Robot and Mechatronic System Laboratory of Hebei Province China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University China

This paper presents a method of detecting the resistant force that acting on the guide wire when it moving into the body blood vessel for minimally invasive cardiovascular interventional surgery operated by a robot system. To learn more about the influenced factors for measured force, some simulations of body blood flow environment have been given. And then some analyses have been worked on blood flow to study whether the parameters of blood flow influence the resistant force measurement results. All of these studies will make us know more about the reliability of this force detecting method and lay the foundation for realizing force feedback in minimally invasive surgery robot system to further improve the system reliability.

关键词： Blood vessels

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Design and analysis of a multi-joint lower limbs rehabilitation robot

Design and analysis of a multi-joint lower limbs rehabilitat...

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International Conference on Advanced mechatronic systems (ICAMechS)

作者： Hongbo Wang Fuhai Deng Lingxue Ren Xiaohua Shi Hao Zhang Liyu Xie 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 Qinhuangdao China

This paper presents a multi-joint lower limbs rehabilitation robot with three degrees of freedom. The robot includes seat, left mechanical leg, right mechanical leg and electric control box, and each mechanical leg includes the hip joint, knee joint and ankle joint which correspond to the hip joint, knee joint and ankle joint of human. The mechanical structure of the rehabilitation robot is described. By adjusting the seat angle, the patient can do the rehabilitation training in different postures. However, when the posture of human upper body changes with the elevation of the seat, the swing limit position of human thigh also changes. In order to guarantee the safety of patients, the mechanical limit of hip joint is designed to be variable. Therefore, the workspace of the robot is also variable. The inverse kinematics and variable workspace of the rehabilitation robot are analyzed. The trajectory planning for the variable workspaces is discussed and the flow chart of the trajectory planning is given.

关键词： Joints robots Trajectory Hip Training Equations Knee

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Task-oriented design method and experimental research of six-component force sensor

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 8917卷 1-12页

作者： Yao, Jiantao Li, Wenju Zhang, Hongyu Xu, Yundou Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China

As the isotropy performance widely used for evaluating parallel six-component force sensor is not suitable for a certain task, the task-oriented design method of the sensor is proposed. The mathematic model of sensor is built with the screw theory;based on the task requirement, the task ellipsoid is established. Then, with ellipsoid method, the design method for the sensor structure is proposed and the structure constraints are deduced. In order to perform peg-in-hole assembly task with the task-oriented sensor, the sensor prototype is designed and manufactured. Based on the assembly platform, the experimental research is carried out. The research results are useful for the design and application of six-component force sensor. © Springer International Publishing Switzerland 2014.

关键词： Structural design

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Research on a kind of leg-wheel stair-climbing wheelchair

Research on a kind of leg-wheel stair-climbing wheelchair

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IEEE International Conference on mechatronics and Automation

作者： Hongbo Wang Li He Qi Li When Zhang Dong Zhang Peng Xu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei Province China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao Hebei Province China

ISBN: (纸本)9781479939800

A kind of leg-wheel stair-climbing wheelchair is proposed. The device adopts a leg-wheel composite structure. Both leg type and wheel type can achieve the function of climbing stairs independently, but together they complement each other nicely to strengthen the performance. Stair climbing is completed by coordinating the movement of the legs and the mobile system. There are two control schemes proposed in the control system. Two different kinds of motors, including DC servo motors and DC motors, are controlled. The device has simple operation and good performance which can realize the free conversion from ground model to stair model.

关键词： Conferences mechatronics Automation

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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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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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