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SSRN 2022年

作者： Liu, Jianxin Dong, Zhikui Chen, Ziming Huo, Weihao Geng, Shihan Li, Yanwen School of Mechanical Engineering Yanshan University Hebei Qinhuangdao066004 China National Cold Rolling Strip Equipment and Process Engineering Technology Research Center Yanshan University Hebei Qinhuangdao066004 China Hebei Parallel Robot and Electromechanical System Laboratory Yanshan University Hebei Qinhuangdao066004 China

A calibration method of linear structure light based on a planar target is proposed to achieve high accuracy calibration of cross structured light. According to the Blinn-Phong illumination model, when laser stripe is projected on the edge of feature points on the planar target, the laser stripe cross profile does not follow the Gaussian distribution, and the Steger algorithm cannot accurately extract the laser stripe center. In order to solve this problem, firstly, extracted all laser stripe centers, removed the center points at the edge of feature points, and carried out fitting for the retained center points. In the second step, the image moments are used to extract the position of the intersection point of the cross structured light in the image, and the line fitting is carried out with the Ransac algorithm. Experimental results show that the proposed method can effectively improve the calibration accuracy of linear structure light. © 2022, The Authors. All rights reserved.

关键词： Calibration

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Kinematic, Workspace and Force Analysis of a five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

Research Square

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Research Square 2021年

作者： Xu, Yundou Yang, Fan Mei, Youen Zhang, Dongsheng Zhou, Yulin Zhao, Yongsheng Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology Science of Ministry of National Education Yanshan University Qinhuangdao006004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Tencent Robotics X Tencent Holdings Shenzhen518057 China

In the present study, the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective. In this paper, kinematics of the hybrid manipulator, including the forward and inverse position, are analyzed. Then, the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements, and the actual workspace of the hybrid robot is analyzed. After that, the force analysis of the over-constrained parallel mechanism is carried out, and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation. Based on the obtained results from the force analysis, the manipulator structure is design. Then, the structure optimization is carried out to improve the robot stiffness. Finally, calibration and workspace verification experiments are performed on the prototype, cutting experiment of an S-shaped aluminum alloy workpiece is completed, and the experiment verifies the processing ability of the prototype and proves that the prototype has good application prospects. © 2021, CC BY.

关键词： Kinematics

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Kinematic characteristics analysis and assembly application of a spatial symmetric 7R mechanism

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2019年第4期40卷 422536页

作者： Han, Bo Xu, Yundou Yao, Jiantao Zheng, Dong Zhang, Shuo Zhao, Yongsheng 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 Education Yanshan University Qinhuangdao066004 China

A spatial symmetric 7R mechanism is proposed in this paper, constructing space deployable mechanisms. Firstly, the overall degree of freedom (DOF) is analyzed based on the screw constraint topology diagram, obtaining the variation of DOFs of the whole mechanism when the orientation of the joint axes changes. Then, the number and nature of DOFs of the motion output component in different orientations of the joint axes are analyzed based on the inverse screw theory. and the transient nature of the DOFs are analyzed. It is found that passive DOF and instantaneous DOF occurred in the arrangement of different joint axes orientations. Furthermore, the singular characteristics of the mechanism in different driving conditions are analyzed, obtaining the geometric conditions of the mechanism in the singular configuration under different driving conditions. Finally, a class of single-DOF polygonal pyramid-shaped space deployable mechanism is constructed by combining spatial symmetric 7R mechanisms with DOF at one. By setting the joint axes orientations, the mechanism yields a large folding rate, and due to its singular properties, it has good mechanical properties. Through the combination of a plurality of pyramid-shaped space deployable mechanisms, new large-scale space deployable mechanisms can be constructed, showing good application prospects in the aerospace field. © 2019, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Mechanisms

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion robot sensing systems Impedance Force

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Structure Parameters and Displacement Equations of Goldberg Mechanisms With the Rank More Than sixStructure Parameters and Displacement Equations of Goldberg Mechanisms With the Rank More Than Six

Research Square

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Research Square 2020年

作者： Zhang, Yitong Lu, Ling Liu, Wenlan Li, Yanwen Hu, Bo Mu, Dejun Lu, Wenjuan 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 Heavy-duty Intelligent Manufacturing Equipment Innovation Center of Hebei Province Yanshan University Qinhuangdao066004 China College of Energy and Power Engineering Lanzhou University of Technology Lanzhou730050 China

An infinite number of N-bar Goldberg mechanisms with the rank more than six are proposed. A single closed-loop eight-bar mechanism is first developed by removing the common side links of adjacent loops from the five-loop Bennett mechanism in which all loop frames are collinear. An analysis of trajectory circles of the links shows that the mechanism developed maintains the original constraint conditions and kinematic characteristics, and that its degree of freedom (DOF) is also one. This novel single-loop mechanism is named the eight-bar Goldberg mechanism because of its similar constraint characteristics with the five-bar and six-bar Goldberg mechanisms. The eight displacement parameters of this mechanism are analyzed by using the interior angles of adjacent links, and the five cosine equations for the tangent product of the stagger angles between adjacent links are established in together with one angular displacement equation of odd links and one angular displacement equation of even links. This novel mechanism has one DOF, eight displacement parameters and seven independent displacement equations. The loop rank of the eight-bar Goldberg mechanism is seven, which revises the existing mechanism theory of single closed-loop mechanisms with the rank no more than six. Similarly, a nine-bar Goldberg mechanism is constructed, and its nine displacement parameters are analyzed. This mechanism has eight independent displacement equations and the loop rank is eight, proving that the mechanisms with the rank more than six are not rare. Then, according to the characteristics of the independent displacement equations of the eight-bar and nine-bar Goldberg mechanisms, the N (N>7) displacement parameters of N-bar Goldberg mechanisms are analyzed, and the (N–1) independent displacement equations are deduced with odd and even Ns. It is proved that the loop rank of N-bar Goldberg mechanisms is (N–1), so there exist an infinite number of mechanisms with the rank more than six. © 202

关键词： Degrees of freedom (mechanics)

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Research on the Relationship between Classic Denavit-Hartenberg and Modified Denavit-Hartenberg

Research on the Relationship between Classic Denavit-Hartenb...

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International Symposium on Computational Intelligence and Design, ISCID

作者： Hang Wang Hanghang Qi Minghui Xu Yanhua Tang Jiantao Yao Xuedong Yan Ming Li Shanghai University Haitian Plastics Machinery Ltd. Ningbo HAITIAN Drive Systems Co. Ltd. Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Department of Chemistry Northeast Normal University NINGBO VEKEN BATTERY CO. LTD

ISBN: (纸本)9781479970063

Currently, homogeneous transformation method has been widely used for its advantages in robot. Its more commonly used modeling methods are classic Denavit-Hartenberg method and modified Denavit-Hartenberg method, but the relationship between the two is very few devoted. Then, the use area is limited. Therefore, the relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method for robotics research has important practical significance. Based on this, the geometric representations of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method are described respectively, the models of link parameters are built by the two, and the corresponding transformation matrix is deduced. The relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is researched deeply, and the relational expression of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is obtained. The research results of this paper are useful for the robot kinematics, dynamics and control algorithms.

关键词： Joints Kinematics Heuristic algorithms Service robots robot kinematics mechatronics

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Deployable unit 3R-3URU and its application in deployable truss antenna

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2017年第11期38卷 421285页

作者： Liu, Wenlan Xu, Yundou Yao, Jiantao Chen, Liangliang Wang, Hui Zhao, Yongsheng 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 Education Yanshan University Qinhuangdao066004 China Xi'an710100 China

A spatial deployable unit 3R-3URU with one Degree of Freedom (DoF) is proposed. The DoF of the single closed-loop mechanism RURUR is analyzed, based on the screw theory and the modified G-K formula. The analytical expression for the velocities of active joints and passive joints of the mechanism RURUR are then established. According to the velocity expression and the structural characteristic that three RURUR mechanisms share their first and last revolute joints, the DoF of the 3R-3URU mechanism is derived. The geometrical relationship among the positions and directions of all joints is also obtained when the 3R-3URU mechanism has one DoF. Novel deployable mechanisms are obtained by applying the 3R-3URU mechanism to the 3RR-3RRR tetrahedral unit and a deployable truss antenna composed of the tetrahedral units, and the novel mechanisms have two types of DoFs: movement and orientation adjustment. DoF analysis and application of the 3R-3URU deployable unit are verified by the Adams software. The proposed deployable unit 3R-3URU has the advantages of one DoF, simple structure, and single type of joints, and can be applied to the supporting mechanism of deployable truss antennas with a curved surface to achieve a large folding ratio. © 2017, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Degrees of freedom (mechanics)

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Deployable antenna mechanism with class of modular truss based on tetrahedral combination unit

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2020年第3期41卷 423219页

作者： Guo, Jinwei Huang, Zhirong Xu, Yundou Guo, Luyao Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Xi'an710100 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

To solve the complex structure, the low folding rate, and the large number of motion pairs of the existing tetrahedral-based truss antenna mechanism, a class of new modular deployable structure is proposed based on the 3RR-3RRR tetrahedral combination unit and the 3RR-3URU tetrahedral symmetric combination unit. The modular structure consisting of three combination units is selected as the analysis object. First, the composition of the modular structure and the axis arrangement of the Hook hinges are introduced in detail, and the number and property of the Degree of Freedom (DOF) of the combination unit itself are obtained by applying the idea of link-demolishing-equivalent-restoration, the screw theory and the G-K formula. Second, the motion simulation of the two modular structures is carried out by using Adams dynamics simulation software. The simulation results verified the correctness of the DOF analysis. The folding rate of the mechanism is characterized by the ratio of the space volume occupied by the mechanism when fully unfolding and fully folding. The folding rates of the existing non-modular mechanisms and modular mechanisms based on tetrahedral unit are calculated. Finally, the number of DOF and motion pairs, the folding rate of non-modular mechanisms and modular mechanisms are compared and analyzed. The analysis results show that the modular structure based on the 3RR-3URU tetrahedral symmetrical combination unit can achieve a large folding rate, and the number of degree of freedom and motion pairs are also relatively reduced. In addition, fewer types of links are use when forming large antennas. The research results provide a theoretical basis for the design and analysis of such modular truss deployable antenna structures. © 2020, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Trusses

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Mobility analysis of a deployable truss-antenna mechanism-Method based on link-demolishing and equivalent idea

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2017年第9期38卷 421188-1-421188-1-421188-12页

作者： Xu, Yundou Liu, Wenlan Chen, Liangliang Yao, Jiantao Zhao, Yongsheng Zhu, Jialong 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 Xi'an710100 China

A method for Degree Of Freedom (DOF) analysis of spatial mechanisms with multiple coupled-loops is proposed based on the link-demolishing and equivalent idea, in view of the multi-loop coupling characteristic of a deployable truss antenna assembled by tetrahedral elements. The coupling constraint chain of the deployable tetrahedral element is removed, and the remainder is regarded as a parallel mechanism. The number and characteristic of the DOF of each output node are then analyzed using the screw theory, and the equivalent serial kinematic chain between the output nodes and the fixed node are then established. The equivalent mechanism of the deployable tetrahedral element is obtained by reconstructing the coupling constrained chain. The number and characteristic of the DOF of the equivalent mechanism are got using the modified G-K formula and the reciprocal screw theory, respectively. As a result, the kinematic characteristics of the tetrahedral element are known. The structure of the minimum composite unit and the large-scale truss deployable antenna are simplified, according to the equivalent mechanism and the combination of the tetrahedral elements. The numbers of the DOF of the minimum composite unit and the large-scale truss deployable antenna are derived on the basis of the geometric constraint equations. The simulation model for a deployable truss antenna assembled by 27 tetrahedral elements is built, and its DOF is verified. The result shows that the DOF of the antenna analyzed by the proposed method is correct. The method lays a foundation for further analysis of the kinematics and dynamics of similar type of antennas, providing a new idea for DOF analysis of other multi-loop coupling mechanisms. © 2017, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Antennas

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A Method of Relay UAV Deployment for Emergency Communication Scenarios in Disaster Areas

A Method of Relay UAV Deployment for Emergency Communication...

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Chinese Automation Congress (CAC)

作者： Cancan Tao Bowen Liu Yi Han Qiangqiang Chen Jun Ye Ronglin Zhong School of Automation Science and Electrical Engineering Beihang University Beijing China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Faculty of Science Kunming University of Science and Technology Kunming China School of Biological Science and Medical Engineering Beihang University Beijing China School of Information Science and Technology University of Science and Technology of China Hefei China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

This article proposes a relay deployment method that uses UAVs to provide communication services to ground users, especially for emergency communication scenarios in disaster ***, a two-layer network communication model is constructed for emergency communication scenarios in disaster areas, and the relay deployment problem is transformed into a multi-objective optimization problem. On this basis, a detailed analysis of the problem is conducted, and a UAV relay deployment method based on the K-means++ algorithm is proposed. The two indicators of the number of UAVs used and the network communication performance are considered in solving the problem. Simulation results show that the proposed method can achieve a balance between the number of relay UAVs used and the achieved network performance.

关键词： Uncertainty Automation Disasters Simulation Heuristic algorithms Interference Autonomous aerial vehicles Relays Vehicle dynamics Optimization

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