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Methods for Force Analysis of Overconstrained parallel Mechanisms： A Review

Chinese Journal of Mechanical Engineering 2017年第6期30卷 1460-1472页

作者： Wen-Lan Liu Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and StampingTechnology and Science of Ministry of National Education Yanshan University Qinhuangdao 066004 China

The force analysis of overconstrained PMs is relatively complex and difficult, for which the methods have always been a research hotspot. However, few liter- atures analyze the characteristics and application scopes of the various methods, which is not convenient for researchers and engineers to master and adopt them prop- erly. A review of the methods for force analysis of both passive and active overconstrained PMs is presented. The existing force analysis methods for these two kinds of overconstrained PMs are classified according to their main ideas. Each category is briefly demonstrated and evaluated from such aspects as the calculation amount, the compre- hensiveness of considering limbs＇ deformation, and the existence of explicit expressions of the solutions, which provides an important reference for researchers and engi- neers to quickly find a suitable method. The similarities and differences between the statically indeterminate prob- lem of passive overconstrained PMs and that of active overconstrained PMs are discussed, and a universal method for these two kinds of overconstrained PMs is pointed out. The existing deficiencies and development directions of the force analysis methods for overconstrained systems are indicated based on the overview.

关键词： Redundantly actuated PM ~ Passiveoverconstrained PM ~ Statically indeterminate problemForce analysis ~ Weighted generalized inverse

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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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Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S parallel Stabilized Platform by Bond Graph

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Chinese Journal of Mechanical Engineering 2016年第6期29卷 1176-1185页

作者： ZHANG Lijie GUO Fei LI Yongquan LU Wenjuan Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

关键词： screw bond graph multi-energy domains 3-UPS/S parallel mechanism electro-hydraulic servo system

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

Fully pre-stressed parallel structure six-axis force sensor

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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

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Applicability and Generality of the Modified Grübler-Kutzbach Criterion

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Chinese Journal of Mechanical Engineering 2013年第2期26卷 257-263页

作者： LI Yanwen WANG Lumin LIU Jingfang HUANG Zhen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University College of Environment and Chemical Engineering Yanshan University College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology

A generally applicable criterion for all mechanism mobility has been an active domain in mechanism theory lasting more than 150 years. It is stated that the Modified Grübler-Kutzbach criterion for mobility has been successfully used to solve the mobility of many more kinds of mechanisms, but never before has anyone proven the applicability and generality of the Modified Grübler-Kutzbach criterion in theory. In order to fill the gap, the applicability and generality of the Modified Grübler-Kutzbach Criterion of mechanism mobility is systematically demonstrated. Firstly, the mobility research background and the Modified Grübler-Kutzbach criterion are introduced. Secondly, some new definitions, such as half local freedom, non-common constraint space of a mechanism and common motion space of a mechanism, etc, are given to demonstrate the correctness and broad applicability of the Modified Grübler-Kutzbach criterion. Thirdly, the general applicability of the Modified Grübler-Kutzbach criterion is demonstrated based on screw theory. The mobilities of the classical DELASSUS mechanisms and a modern planar parallel mechanism, are determined through the Modified Grübler-Kutzbach criterion, which are as examples to show the practical application of the Modified Grübler-Kutzbach criterion.

关键词： mobility screw theory classical mechanism parallel mechanism

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Evaluation on Configuration Stiffness of Overconstrained 2R1T parallel Mechanisms

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 62-82页

作者： Xuejian Ma Zhenghe Xu Yundou Xu Yu Wang Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining ***,there is a lack of an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design *** is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design *** the operational status of 2R1T PMs,the bending and torsional stiffness are considered as indices to evaluate PMs'configuration ***,a specific method is proposed to calculate these stiffness ***,the various types of structural and driving stiffness for each branch are assessed and their specific values ***,a rigid-flexible coupled force model for the over-constrained 2R1T PM is established,and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire ***,the driving force and constraint force of each branch in the whole working space are calculated to further elucidate the stiffness evaluating results by using the proposed method *** obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x and y-directions are larger than the other four mechanisms.

关键词： parallel mechanism Stiffness Over-constrained Three degrees of freedom

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Design and analysis of truss deployable antenna mechanism based on a novel symmetric hexagonal profile division method

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Chinese Journal of Aeronautics 2021年第8期34卷 87-100页

作者： Jinwei GUO Yongsheng ZHAO Yundou XU Yongjie LI Jiantao YAO Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

As the deployment,supporting,and stability mechanisms of satellite antennas,space-deployable mechanisms play a key role in the field of *** order to design truss deployable antenna supporting mechanisms with large folding rate,high accuracy,easy deployment and strong stability,aiming at the geometric division of the parabolic reflector,a novel method based on symmetric hexagonal division and its corresponding modular truss deployable antenna mechanism is proposed,and the original method based on asymmetric triangular division and its corresponding mechanisms are presented for comparative ***,the screw theory is employed to analyze the mobility of different ***,the improved three-dimensional mesh method is used to divide the reflector surface of a large parabolic antenna designed by the two different methods,and the profile accuracy and the type of links are taken as the evaluation indexes to quantitatively analyze the division ***,a three-dimensional model of the modular deployable mechanism based on the symmetric hexagonal design is developed,and the deployable mechanisms with different configurations based on the two design methods are compared and analyzed from the mechanical *** research results provide a good theoretical reference for the design of deployable truss antenna mechanisms and their application in the aerospace field.

关键词： Mobility Modular mechanism Profile division Screw theory Truss deployable antenna

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Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 292-304页

作者： Jinwei Guo Yongsheng Zhao Bo Chen Guoxing Zhang Yundou Xu Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao066004China

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains *** the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is *** equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb *** relationship between the constraint wrench magnitudes and the external force,limb stiffness is *** equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility ***,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is *** with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is ***,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is *** research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.

关键词： Active overconstrained Passive overconstrained Passive-input overconstrained Equivalent stiffness Force distribution

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Type synthesis of deployable mechanisms for ring truss antenna based on constraint-synthesis method

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Chinese Journal of Aeronautics 2020年第9期33卷 2445-2460页

作者： Bo HAN Yundou XU Jiantao YAO Dong ZHENG Luyao GUO Yongsheng ZHAO Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Space deployable antenna is the key equipment in realizing the communication and data transmission between the spacecraft and the *** order to enrich the configurations of deployable antennas,the type synthesis of deployable mechanisms for ring truss antenna is conducted in this ***,the principle of the constraint-synthesis method based on screw theory is briefly described,the structure of the ring truss deployable antenna and its folding principle are analyzed,and the ring truss mechanism is divided into upper edges,lower edges and ***,based on the constraint-synthesis method,the type synthesis of the basic unit edges is carried out,a series of basic unit mechanisms are obtained from combining the basic unit edge mechanisms,and five mechanism units with fewer joints and simple structures are ***,simulation models of the five ring truss deployable mechanisms are built in Solidworks and Matlab software,and the deploying process is verified by the movement ***,mechanism characteristics of the five mechanisms are analyzed and discussed,and a prototype is manufactured,verifying the analysis in this *** research provides a new way for the type synthesis of spatial deployable mechanisms,and the ring truss deployable mechanisms obtained in this study can be well applied in the field of aerospace.

关键词： Constraint-synthesis method Deployable mechanism Ring truss antenna Screw theory Type synthesis

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Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism

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Defence Technology（防务技术） 2023年第6期24卷 399-413页

作者： Bo Han Xiangkun Li Jian Sun Yundou Xu Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China

As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel *** this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the *** analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one *** and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation *** on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB *** addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole *** mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

关键词： Scissors mechanism Deployable antenna Screw theory Kinematic analysis Dynamic analysis

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