检索结果-内蒙古大学图书馆

Kinematics and Dynamics Analysis of a Quadruped Walking robot with parallel Leg Mechanism

Chinese Journal of Mechanical Engineering 2013年第5期26卷 881-891页

作者： WANG Hongbo SANG Lingfeng HU Xing ZHANG Dianfan YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Xi’an University of Architecture and Technology Science and Technology Research Institute Yanshan University School of Design Engineering and ComputingBournemouth University

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,***,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple ***,Improvement of enhancing capacity and functions of the walking robot is an important research *** to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is *** proposed robot can be used for both a biped and a quadruped walking *** kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are *** results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,*** on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk *** laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

关键词： walking robot parallel leg mechanism kinematics dynamics over-determinate inputs

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Innovation design and operation control method of the minimally invasive vascular interventional surgery robot system

引用

BioTechnology: An Indian Journal 2013年第12期8卷 1604-1613页

作者： Xue, Yang Hongbo, Wang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao 066004 China

A novel minimally invasive vascular interventional surgery robot system is proposed. The system includes a positioning arm, a catheter interventional device and its manipulation *** operation control method for the positioning arm is presented, which is to drag a six-dimensional force sensor fixed on the end of the arm. A six-dimensional force signal will be outputted and transformed into a position and orientation matrix respective to the positioning arm. A fictitious joint is added to the arm with five-degree of freedom (DOF) in accordance with certain principles to change it into a six-DOF configuration. Using the obtained position and orientationmatrix to do inverse kinematic of the six-DOFmechanism, the inverse kinematic of the five-DOF mechanism can be obtained. Take these values as position control commands to the corresponding jointmotors to realize the motion control of the positioning *** example is given to verify the correctness of the proposed method. A master-slave system composed by a catheter interventional device and its manipulation device is proposed. The corresponding actions of every operation states and the master-slave control principle are given. The mapping relations between the displacement distances of the manipulation handle and the promoting finger and between the rotation angles of the handle wheel and the catheter/guide wire are described. By setting different proportionality coefficients, themulti-gear control can be *** the help of master-slave operational method, the doctors can do operations outside the operation room to protect themselves from radiation. Moreover, the systemcan realize force feedback which can help the operator to have force telepresence and to increase the sense of reality and immersion. © 2013 Trade Science Inc. - INDIA.

关键词： Degrees of freedom (mechanics)

来源：评论

学校读者我要写书评

暂无评论

Kinematics and singularity analysis of a novel 6-PUS/UPU parallel mechanism 10

Kinematics and singularity analysis of a novel 6-PUS/UPU par...

引用

10th International Conference on Motion and Vibration Control, MOVIC 2010

作者： Duan, Yanbin Liang, Shunpan Jiang, Junxiang Zeng, Daxing Zheng, Kuijing Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao Hebei China

In this paper, a novel 6-PUS/UPU parallel mechanism is presented. The mechanism exhibit advantageous characteristics such as higher rigidity, better positioning accuracy and can be used in the fields of vision measure, force control and redundant research. At first, kinematics analysis of the parallel mechanism is carried out;constrained wrench of the moving platform imposed by the middle limb UPU is obtained. Then, singularity analysis is performed. Copyright © 2010 by the Japan Society of Mechanical Engineers.

关键词： Kinematics

来源：评论

学校读者我要写书评

暂无评论

Kinematic analysis of the lifting mechanism of one forging manipulator 10

Kinematic analysis of the lifting mechanism of one forging m...

引用

10th International Conference on Motion and Vibration Control, MOVIC 2010

作者： Xu, Yundou Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao Hebei China

This paper analyzes the lifting mechanism of one forging manipulator. The lifting mechanism is a hybrid serial-parallel mechanism, composed of a parallel 4R mechanism and a parallel mechanism. At first, mobility properties of the lifting mechanism are analyzed based on screw theory. Then, position analysis of the lifting mechanism is carried out. Because the motions of lifting, pitching and back-and-forward translation are independent of the motions of left-and-right translation and yawing, the lifting mechanism can be divided into two independent mechanisms,i.e., position analysis of these two mechanisms can be carried out separately. Copyright © 2010 by the Japan Society of Mechanical Engineers.

关键词： Mechanisms

来源：评论

学校读者我要写书评

暂无评论

Fully pre-stressed parallel structure six-axis force sensor 10

Fully pre-stressed parallel structure six-axis force sensor

引用

10th International Conference on Motion and Vibration Control, MOVIC 2010

作者： Yao, Jiantao Wang, Zhijun Hou, Yulei Wang, Hang Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao Hebei066004 China

In order to overcome the disadvantages of parallel structure six-axis force sensor with traditional sphere pair, four kinds of pre-stressed parallel structure six-axis force sensor using modified spherical pairs are proposed. The structure feature of the sensors are analyzed in comparison with the traditional Stewart platform-based sensor. The experimental study of static calibration of a sensor prototype is carried out, and the experiment results prove the superiority of the structure and the correctness of the theoretical analysis. Copyright © 2010 by the Japan Society of Mechanical Engineers.

关键词： Mechanics

来源：评论

学校读者我要写书评

暂无评论

Comparative analysis of two typical mechanisms of forging manipulator

Comparative analysis of two typical mechanisms of forging ma...

引用

2010 International Conference on Mechanic Automation and Control Engineering, MACE2010

作者： Xu, Yundou Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao China

ISBN: (纸本)9781424477388

Kinematics and statics of two typical mechanisms of forging manipulator are analyzed based on mechanism theories and the principle of virtual work in this paper. The biggest driving forces/torques that each hydraulic cylinder need of both mechanisms are compared. Consequently, a better mechanism of forging manipulator is chosen. ©2010 IEEE.

关键词： Jacobian matrices

来源：评论

学校读者我要写书评

暂无评论

Dynamic Performance Analysis of a Fully Pre-stressed Six-Component Force Sensor

Dynamic Performance Analysis of a Fully Pre-stressed Six-Com...

引用

International Conference on Electrical and Control Engineering (ICECE)

作者： Zhijun Wang Jiantao Yao Hang Wang Yulei Hou Yongsheng Zhao Parallel Robot & Mechatronic System Laboratory Yanshan University슠 Qinhuangdao Hebei China School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing China

The dynamic performance of a fully pre-stressed six-component force sensor is simulated based on the software of ADAMS. The dynamics theoretical model of the sensor is built first, and the natural frequency and mode vector are deduced. Two simulation methods based on rigid-flexible model and spring-limb model are proposed. The natural frequency and mode shapes of the sensor are obtained by dynamic performance simulation and analysis. Additionally, forced vibration analysis of the sensor is simulated using ADAMS/Vibrition, then the resonance frequency and force vibration mode shapes are obtained. The result of simulation is agree well with the theoretical calculation, which proves the correctness of the simulation analysis.

关键词： Dynamics robot sensing systems Analytical models Vibrations Resonant frequency Force Force sensors

来源：评论

学校读者我要写书评

暂无评论

Dynamic performance analysis of a fully pre-stressed six-component force sensor

Dynamic performance analysis of a fully pre-stressed six-com...

引用

International Conference on Electrical and Control Engineering, ICECE 2010

作者： Wang, Zhijun Yao, Jiantao Wang, Hang Hou, Yulei Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao Hebei 066004 China School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing 100044 China

ISBN: (纸本)9780769540313

关键词： Natural frequencies

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：