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SSRN 2024年

作者： Zhang, Biao Feng, Kangkang Shen, Xiaolong Yi, Yali Jin, Herong School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

The impact of dual and triple-layer composite interlayer (CI), constructed from Fe, Co, and Ni foils, on the microstructure and mechanical properties of the interface of EH40/2205 clad plates was investigated. The findings indicated that all groups of CI had achieved metallurgical bonding between EH40 and 2205. Specifically, the Ni layer, which had been positioned close to the composite layer 2205, had hindered the diffusion of Ni and Cr, enhancing the plasticity of the clad plate. The Fe layer, situated between Ni and Co, had increased the hardness of the CI by 180~190HV through solid solution strengthening. The Co layer, located near the base layer EH40, had been approximately 70HV harder than the Ni layer, increasing the ultimate tensile strength (UTS) and ultimate shear strength (USS) of the clad plate by about 20%. Among the schemes, EH40/Co/Fe/Ni/2205 had been the preferred option, with a UTS of 549MPa and a USS of 704MPa. © 2024, The Authors. All rights reserved.

关键词： Microstructure

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Effect of Decision Way on the EEG Signal Classification Performance of Motor Imagery

Effect of Decision Way on the EEG Signal Classification Perf...

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Yanzheng Lu Hong Wang Jianye Niu Rongrong Fu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China School of Mechanical Engineering and Automation Northeastern University Shenyang China Measurement Technology and Instrumentation Key Laboratory of Hebei Province School of Electrical Engineering Yanshan University Qinhuangdao China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

Timely and accurate classification of motor imagery (MI) is crucial for its practical application. However, the effect of decision way has not been thoroughly researched in the existing studies. This paper researches the effect of decision way on the classification of MI task electroencephalogram (EEG) signals. The time-frequency analysis of pre-processed EEG signals is carried out to obtain the variation rules of different EEG rhythms in MI tasks. The power changes of MI task EEG signals are analyzed. The time domain and frequency domain features of EEG signals are extracted, and the MI task classification models with different decision ways are built. The accuracy of different decision ways on the classification of EEG signals in MI tasks are compared.

关键词： Time-frequency analysis Accuracy Pattern classification Nearest neighbor methods Brain modeling Motors Feature extraction

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Design of a new solution for the wheeled hopping robot

Design of a new solution for the wheeled hopping robot

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UKACC International Conference on Control (CONTROL)

作者： Jingjing Liu Hongbo Wang Hongnian Yu Lili Zhang Luige Vladareanu Adrian Bruja Gal I. Alexandru 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 College of Electrical Engineering Yanshan University Qinhuangdao China School of Design Engineering and Computing Bournemouth University Poole UK Robotics and Mechatronic Department Institute of Solid Mechanics Bucharest Romania

In recent years many researchers are trying to combine wheeled movement with legged movement or hopping movement to strengthen the robots adaptability to environment. Hybrid robots are playing a more and more important role in our modern life. However, their controls are mostly complicated. So in this paper we present a new solution for the wheeled hopping robot. Based on the mechanical design, this robot has two movement modes: wheeled and hopping movement mode. While the center of gravity of the mechanism is under the wheels center, the wheeled hopping robot which is like a tumbler can keep its stability even when the wheels' velocity is zero. In this paper, we firstly introduce the description and design of the wheeled hopping robot. Then we explain how to choose the robot parameters and lastly we describe, how the robot through hopping, successfully traverses obstacles and ditches.

关键词： Mobile robots Shafts Wheels Springs robot kinematics Force

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

The stability performances improvement through kinematic and...

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UKACC International Conference on Control (CONTROL)

作者： Adrian Bruja Luige Vladareanu Gal Ionel Alexandru Hongbo Wang Hongnian Yu Jingjing Liu Institute of Solid Mechanics of Romanian Academy (IMSAR) Bucharest Romania School of Design Engineering and Computing Boumemouth University Poole Dorset UK 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

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.

关键词： Mobile robots Springs Wheels Trajectory Collision avoidance Shafts

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Principle and Performance Analysis of Soft Continuum robot with Large Range Variable Stiffness Based on Spherical Particles

Principle and Performance Analysis of Soft Continuum Robot w...

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

作者： Yanzhi Zhao Yu Shan Kaida Guo Longguang Han Lizhe Qi Hongnian Yu Laboratory of Mechanical and Electronic Engineering Institute of Mechanics Yanshan University 438 West Section of Hebei Street Haigang District Qinhuangdao City Hebei Province CHN Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao Hebei Provincial China Academy for Engineering and Technology Fudan University Shanghai China Fuaculty of Science and Technology Bournemouth University Poole United Kingdom

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In the field of robots, soft continuum robots have strong adaptability, and rigid continuum robots have large carrying capacity, but they all have some limitations. The purpose of this paper is to solve the problems of small carrying capacity of soft continuum robots and low safety of rigid continuum robots. Based on the combined action of particle jamming and fiber jamming, we use the good fluidity of spherical particles and the rigidity of spherical particles to realize the flexibility and rigidity of the robot, and put forward the requirement of flexible contact and rigid bearing. According to the large range variable stiffness actual demand, a self-locking soft continuum robot with large range variable stiffness based on the jamming phenomenon is proposed, and the principle of large range variable stiffness is explained. Then the model experiment prototype is designed and manufactured. Based on the model, the combination elastomer is defined. The basic unit is constructed and the theoretical analysis is carried out, and the equivalent of the combination elastomer stiffness model is obtained. Finally, an experimental test system is built. Through the experiment and simulation of variable stiffness, the stiffness change of combination elastomer is obtained, and the specific situation of bearing capacity change is recorded. This study provides a new method to achieve a wide range of stiffness changes, and builds a bridge from soft continuum robots to rigid continuum robots.

关键词： Textiles Jamming Strain Elasticity Soft robotics Force

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Research on dynamic characteristic of connecting rod with joint clearance

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IOP Conference Series: Materials Science and Engineering 2019年第1期542卷

作者： Shihua Li Jilong Xu Jie Zhao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China

In order to study the dynamic characteristics of revolving joint with clearance, the theoretical model of the revolving joint with clearance is established by using Newton Euler method and 'contact-separation' state model. The kinetic equations are solved by using the Gear algorithm in MATLAB software. The change curves of the contact force and the center trajectory of the revolving joint shaft with clearance are obtained considering different clearance, contact stiffness, and rotational speed together. The research results have laid a theoretical foundation for improving the joint forces and the accuracy by using controller.

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Corrigendum to “Fault-tolerant strategy and experimental study on compliance assembly of a redundant parallel six-component force sensor” [Sens. Actuators A: Phys. 272 (2018) 114–124]

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Sensors and Actuators A: Physical 2018年 277卷 199-199页

作者： Jiantao Yao Danlin Wang Dajun Cai Yundou Xu Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China

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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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Optimal Dimensional Design of parallel Mechanical Leg

Optimal Dimensional Design of Parallel Mechanical Leg

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IEEE International Conference on mechatronics and Automation

作者： Xingchao Zhang Hongbo Wang Yu Rong Yongfei Feng Yunxiang Bai Jianye Niu Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Department of Vehicle and Energy Yanshan University Qinhuangdao China Department of the Faculty of Mechanical Engineering & Mechanics Ningbo University Ningbo China College of Mechanical and Transportation Engineering China University of Petroleum Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In order to expand the configuration of the leg mechanism of a legged robot, a parallel Mechanical Leg (PML) with two rotational and three translational degrees of freedom (DOF) is proposed, and the structural parameters are optimized and designed based on the dexterity of the mechanism. Firstly, the mechanism configuration of the 5 DOF PML is described and its degrees of freedom are analyzed; secondly, the velocity, workspace, and Jacobi matrix of the mechanism are analyzed; finally, the inverse of the Jacobi matrix condition number is used as the index of dexterity, and the structural parameters are optimized by using the limited normalization method and the ternary plot.

关键词： Jacobian matrices Legged locomotion mechatronics Automation 5-DOF Structural engineering Indexes

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Integration mode of standing balance and trajectory training based on lower limb rehabilitation exoskeleton

Integration mode of standing balance and trajectory training...

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IEEE International Conference on robotics and Biomimetics

作者： Tong Zhou Jianjun Yuan Shugen Ma Tieshi Zhao Sheng Bao Liang Du Weiwei Wan Zhongying Liu Ye Zhang Shanghai Robotics Institute Shanghai University Shanghai China Ritsumeikan University Shiga Japan Graduate School of Engineering Science Osaka University Toyonaka Japan Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao China

ISBN: (纸本)9781665405362

Lower limb rehabilitation exoskeletons (LLREs) are widely researched to assist patients with lower limb function injury, but there is a lack of researches on rehabilitation modes to help patients exercise balance ability. In response to this deficiency, the prototype of LLRE is introduced in this paper, including the design of mechanical, electrical and control systems. The kinematic models of leg abduction mechanism (LAM) and unilateral mechanical leg are established, and their workspaces are analyzed. Based on the prototype, an innovative rehabilitation mode integrating standing balance and trajectory training is designed. The training effects are demonstrated in the human subject experiments, the patient's center of gravity can be effectively transferred, the performance of the prototype is also verified by the trajectory tracking effect. The proposed mode is promised to enrich the rehabilitation mode of exoskeleton robots and improve the training effect.

关键词： Training Legged locomotion Trajectory tracking Exoskeletons Prototypes Kinematics Trajectory

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