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An Untethered Soft-Swallowing robot with Enhanced Heat Resistance,Damage Tolerance,and Impact Mitigation

Chinese Journal of Mechanical Engineering 2024年第6期37卷 456-465页

作者： Haili Li Xingzhi Li Pan Zhou Jiantao Yao Zhejiang Provincial Key Laboratory of Part Rolling Technology School of Mechanical Engineering and MechanicsNingbo UniversityNingbo 315211China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China

Soft robotics focuses on addressing the locomotion problem in unstructured environments and the manipulation problem of non-cooperative objects,which inevitably leads to soft robots encountering multiple uncertainties and ***,improving the robustness of soft robots in hostile environmental conditions has always been a *** methods usually improve this robustness through damage isolation,material elasticity,and self-healing *** contrast to existing methods,this paper proposes a method to improve the robustness of an untethered soft-swallowing robot based on the physical properties of fluids,such as the high specific heat capacity of water,the viscosity of soft glue,and the shear thickening of non-Newtonian *** on this method,we developed a soft-swallowing robot with enhanced heat resistance,damage tolerance,and impact mitigation capability by only replacing its fluid working *** show that the developed soft-swallowing robot can withstand high temperatures above 600°C,maintain high performance even after enduring hundreds of damages,and protect grasped object from more than 90%of external *** principle extends beyond the three fluids used in this *** fluids,such as magnetic fluid,can increase adhesion to metal materials,whereas oily fluids can reduce frictional resistance between soft ***,other solid materials with elasticity and compliance can serve as alternative working mediums for the soft-swallowing *** work contributes an effective method for fluid-dependent soft robotic systems to resist the damage from uncertain factors in harsh environments.

关键词： Soft gripper Untethered design Heat resistance Damage tolerance Impact mitigation

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Development of a Wearable Upper Limb Rehabilitation robot Based on Reinforced Soft Pneumatic Actuators

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 182-190页

作者： Xinbo Chen Shuai Zhang Kaibin Cao Chunjie Wei Wumian Zhao 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

Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily *** the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper *** upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor *** this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was *** by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow *** this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied *** results provide a reference for the development and application of wearable upper limb rehabilitation *** experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical *** process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation *** work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.

关键词： Upper limb rehabilitation Reinforced soft pneumatic actuator Wearable rehabilitation robot Motion analysis

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A 0.5-meter-scale,high-load,soft-enclosed gripper capable of grasping the human body

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Science China(Technological Sciences) 2023年第2期66卷 501-511页

作者： LI HaiLi ZHANG Shuai ZHANG XuanHao ZHAO WuMian YAO JianTao Zhejiang Provincial Key Laboratory of Part Rolling Technology Faculty of Mechanical Engineering&MechanicsNingbo UniversityNingbo 315211China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China

Developing large,soft grippers with high omnidirectional load(above 40 kg)has always been *** address this challenge by developing a powerful soft gripper that can grasp the human body based on a soft-enclosed grasping structure and a soft-rigid coupling *** envelope size of the proposed soft gripper is 611.6 mm×559 mm×490.7 mm,the maximum grasping size is 417 mm,and the payload on the human body is more than 90 kg,which has exceeded most existing soft ***,the grasping force prediction of the gripper is achieved through theoretical *** primary contribution of this work is to overcome the size and payload limits of current soft grippers and implement a human-grasping experiment based on the soft-grasping method.

关键词： soft gripper large size high-load soft-enclosed grasping

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Application of parallel Mechanism in Varistructured Quadruped/Biped Human-carrying Walking Chair robot

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International Journal of Automation and computing 2013年第5期10卷 447-454页

作者： Ling-Feng Sang Hong-Bo Wang Dian-Fan Zhang Zhen-Hua Tian Fu-Hai Deng De-Lei Fang 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 Science and Technology Research Institute Yanshan University

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is *** proposed robot could be used as biped and quadruped walking chair *** the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,*** the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism *** motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are ***,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is ***,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to *** study provides a theoretical foundation for the prototype development.

关键词： Human-carrying walking chair robot parallel leg mechanism degree of freedom varistructure workspace kinematics

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Motion Analysis and Simulation Verification of Novel Quadruped robot 12

Motion Analysis and Simulation Verification of Novel Quadrup...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Ju, Zhongjin Wei, Ke Xu, Yundou Yao, Jiantao Zhao, Yongsheng School of Mechanical Engineering Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

At present, quadruped robot has attracted more and more scholars' attention, quadruped robot with load capacity can help human beings to carry out special work. However, the current quadruped robot is not suitable for heavy load work in terms of joint arrangement. In this study, the degree of freedom (DOF) analysis and type synthesis of Quadruped robot with traditional 4-SRRR structure are studied, and a quadruped robot with 4-SPRR structure which is more suitable for load application is obtained. The kinematics of the proposed quadruped robot and the orientation adjustment in unstructured terrain are analyzed. Finally, the theoretical results were validated by simulation. The results show that the designed motion control algorithm can make the robot work normally and has a certain orientation adjustment ability. The study that has contributed to a novel quadruped robot. © 2022 IEEE.

关键词： Motion analysis

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Configuration Design and Size Optimization of a High-Precision Novel parallel Pointing Mechanism Based on Interference Separation

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Chinese Journal of Mechanical Engineering 2024年第5期37卷 365-386页

作者： Sen Wang Shihua Li Xueyan Han Jiahao Wei Xueyuan Gao Hongyu Xu Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China

Pointing mechanism is widely used in aerospace field,and its pointing accuracy and stability have high *** pointing mechanism will be affected by external interference when it *** order to eliminate the impact of interference forces on the output accuracy of the mechanism,firstly,this paper proposes a design method for highprecision pointing mechanisms based on interference separation,aiming at the high-precision pointing requirements of pointing *** on the screw theory,a synthesis method for inner compensation mechanisms has been *** a new type of double-layer parallel mechanism has been designed to compensate for interference ***,the kinematics and dynamics of the mechanism are carried *** evaluation index for compensating external interference forces is *** interference compensation analysis is conducted for the pointing *** correctness of the proposed interference force compensation coefficient is ***,in order to find the optimal solution for the workspace and interference force compensation coefficient of the pointing mechanism,multi-objective optimization design of the structural parameters of the mechanism was carried out based on the particle swarm optimization *** provides a theoretical basis for the prototype design of the subsequent double-layer parallel *** double-layer parallel mechanism combines the advantages of large load-bearing capacity,large workspace,and high output *** can be better applied in the aerospace field where high-precision pointing and force interference compensation are integrated.

关键词： Pointing mechanism Interference separation Double-layer parallel mechanism Force compensation coefficient Multi-objective optimization

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Operation and Force Analysis of the Guide Wire in a Minimally Invasive Vascular Interventional Surgery robot system

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 249-257页

作者： YANG Xue WANG Hongbo SUN Li YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University School of Mechanical Engineering University of Jinan Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Faculty of Science and Technology Bournemouth University

To develop a robot system for minimally invasive surgery is significant,however the existing minimally invasive surgery robots are not applicable in practical operations,due to their limited functioning and weaker perception.A novel wire feeder is proposed for minimally invasive vascular interventional *** is used for assisting surgeons in delivering a guide wire,balloon and stenting into a specific lesion *** contrasting those existing wire feeders,the motion methods for delivering and rotating the guide wire in blood vessel are described,and their mechanical realization is presented.A new resistant force detecting method is given in *** change of the resistance force can help the operator feel the block or embolism existing in front of the guide *** driving torque for rotating the guide wire is developed at different *** the CT reconstruction image and extracted vessel paths,the path equation of the blood vessel is *** the shapes of the guide wire outside the blood vessel,the whole bending equation of the guide wire is *** is a risk criterion in the delivering *** process can make operations safer and man-machine interaction more reliable.A novel surgery robot for feeding guide wire is designed,and a risk criterion for the system is given.

关键词： minimally invasive wire feeder force analysis moment of inertia risk criterion

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Comparative analysis of two typical mechanisms of forging manipulator

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

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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

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Analysis and simulation of parallel lifting mechanism for schnable car based on complex vector 2

Analysis and simulation of parallel lifting mechanism for sc...

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2nd International Conference on Applied mechatronics and Android robotics, ICAMAR 2014

作者： Zhao, Yan-Zhi Wang, Xiang-Nan Bai, Xue-Gang Ren, Yu-Bo Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University China Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9783038353119

The working conditional model of schnable car has been established and the principle of lifting mechanism has been analyzed. By complex vector method, we analyze the kinematics of the lifting mechanism and get the position, speed and acceleration curves of relevant objects under the lifting progress. We have a static analysis on lifting mechanism, and get the relationship curve of the cylinder’s force and generator’s mass by mathematical Calculation. Kinematics simulation test is proceeded by ADAMS. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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Optimum Seeking of Redundant Actuators for M-RCM 3-UPU parallel Mechanism

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Chinese Journal of Mechanical Engineering 2021年第6期34卷 373-384页

作者： Chen Zhao Jingke Song Xuechan Chen Ziming Chen Huafeng Ding School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China School of Mechanical Engineering and Electronic Information China University of Geosciences(Wuhan)Wuhan430074China

The singularity problem brings troubles to the design and application for the parallel ***,redun-dant actuation is one of the useful methods to solve this singularity ***,faced to the numerous joints in a parallel mechanism,how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open *** paper focuses on a 2R1T 3-UPU(U for universal joint and P for prismatic joint)parallel mechanism(PM)with two rotational and one translational(2R1T)degrees of freedom(DOFs)and the ability of multiple remote centers of motion(M-RCM).The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singular-ity,constraint singularity,mixed singularity and limb *** solve these singular problems,the quantifiable redundancy transmission index(RTI)and the redundancy constraint index(RCI)are proposed for optimum seeking of redundant actuators for this *** the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the *** research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.

关键词： parallel mechanism 2R1T RCM Singularity Redundant actuation

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