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Auto-establishing simulation parallel manipulators with linear legs and auto-solving their workspaces by utilizing CAD variation geometry

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International Journal of Computers and Applications 2017年第4期39卷 220-233页

作者： Lu, Yi Bi, Cuicui Ye, Nijia Bo, Hu College of Mechanical Engineering Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei China Hebei Hanguang Industry CO. LTD Hebei China

A new approach of CAD variation geometry is proposed for automatically establishing the simulation mechanisms of parallel manipulators (PMs) with linear legs, and automatically solving their forward displacements, workspaces, and Euler angles. First, the basic concepts and techniques of the CAD variation geometry are described. Second, a program is developed by utilizing new approach. In the developed software, an interface is constructed for inputting given parameters and outputting solved results of data and graphs, several sub-programs are compiled for automatically establishing various simulation mechanisms, solving the forward displacements, and solving/ displaying reachable workspaces and Euler angles of various PMs. Third, the three novel and five existing different PMs are illustrated. When the given parameters of the PMs into the interface are inputted, their simulation mechanisms are established automatically. The displacements, the reachable workspaces, and the Euler angles are solved automatically. Finally, the solved results of the developed software are verified by that of the analytic solutions of several existing PMs and the simulation solutions of several novel PMs. © 2017 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Geometry

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Research and application of dual drive synchronous control algorithm

Research and application of dual drive synchronous control a...

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2012 International Conference on Information Technology and Software Engineering, ITSE 2012

作者： Jin, Herong Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Ministry of Education of China 438 Hebei Avenue Qinhuangdao 066004 China

ISBN: (纸本)9783642345272

According to the real time rapidity characteristic of generalized predictive control, dual drive control synchronous subsystem based on generalized predictive is designed. Based on coordinated control principle, a fuzzy controller is added between the channels of two drive subsystems. Aiming to minimize the cor-responding state difference of two subsystems, control scheme with synchronous error non-equal common feedback fuzzy correction is adopted, which keep the output of two synchronous subsystems consistent, improve the response speed of synchronous error to system, and reduce the synchronous error of two drive sub-systems effectively. The simulation results show that synchronous control strategy presented in this paper improve the response speed of synchronous error to system, reduce the synchronous error of two motors effectively, and provide advantageous guarantee for the high precision of large rotary dual drive synchronous systems. © 2013 Springer-Verlag.

关键词： Feedback

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

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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

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Measuring limitation analysis of six-axis wrist force sensor based on screw theory 4

Measuring limitation analysis of six-axis wrist force sensor...

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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Wang, Zhi Jun Liu, Wan Yu He, Jing Li, Zhan Xian Zhao, Yong Sheng College of Mechanical Engineering Hebei United University Tangshan China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

When robot do contact operation task to unknown environment, it often need wrist force sensor to check contact force information between robot and environment then judge the contact state, and check the information feedback to control system for completing operation smoothly. This paper analyze the measure theory of robot end wrist six-axis force sensor based on screw theory, propose and verify the limitation of six-axis wrist force sensor for measuring the six-dimensional force online. © (2014) Trans Tech Publications, Switzerland.

关键词： robots

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Configuration Synthesis and Lightweight Networking of Deployable Mechanism Based on a Novel Pyramid Module

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Chinese Journal of Mechanical Engineering 2023年第4期36卷 294-310页

作者： Jinwei Guo Jianliang He Guoxing Zhang Yongsheng Zhao Yundou Xu School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang 212100China 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

Deployable mechanism with preferable deployable performance,strong expansibility,and lightweight has attracted much attention because of their potential in aerospace.A basic deployable pyramid unit with good deployability and expandability is proposed to construct a sizeable deployable ***,the basic unit folding principle and expansion method is *** configuration synthesis method of adding constraint chains of spatial closed-loop mechanism is used to synthesize the basic ***,the degree of freedom of the basic unit is analyzed using the screw theory and the link dismantling ***,the three-dimensional models of the pyramid unit,expansion unit,and array unit are established,and the folding motion simulation analysis is carried *** on the number of components,weight reduction rate,and deployable rate,the performance characteristics of the three types of mechanisms are described in ***,prototypes of the pyramid unit,combination unit,and expansion unit are developed to verify further the correctness of the configuration synthesis based on the *** proposed deployable mechanism provides aference for the design and application of antennas with a large aperture,high deployable rate,and *** has a good application prospect in the aerospace field.

关键词： Pyramid unit Deployable mechanism Configuration synthesis Structural design Lightweight networking

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Configuration Synthesis and Performance Analysis of 9‑Speed Automatic Transmissions

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Chinese Journal of Mechanical Engineering 2020年第3期33卷 97-117页

作者： Huafeng Ding Changwang Cai Ziming Chen Tao Ke Bowen Mao School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering and Electronic Information China University of Geosciences(Wuhan)Wuhan 430074China.

Current research of automatic transmission(AT)mainly focuses on the improvement of driving performance,and configuration innovation is one of the main research ***,finding new configurations of ATs is one of the main limitations of configuration *** the present study,epicyclic gear trains(EGTs)are applied to investigate mechanisms of 9-speed *** four kinematic configurations are proposed for automatic *** order to evaluate the performance of proposed mechanisms,the lever analogy method is applied to conduct kinematic and mechanical *** power flow analysis is conducted,and then transmission efficiencies are calculated based on the torque *** comparative analysis between the proposed and existing mechanisms is carried out where obtained results show that proposed mechanisms have reasonable performance and can be used in *** prototype of an AT is manufactured and the speed test is conducted,which proves the accuracy of analysis and the feasibility of proposed mechanisms.

关键词： Automatic transmission Epicyclic gear train Lever analogy Gear ratio Torque method

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Type Synthesis and Analysis of Rigid-Flexible Hybrid Stable Tracking robot on USV 23rd

Type Synthesis and Analysis of Rigid-Flexible Hybrid Stable ...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Erwei, Li Ruijie, Lu Tieshi, Zhao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao463400 China Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9789811993978

With the increasing demand for offshore USV-UAV cooperation, the autonomous safe landing of UAV on USV has become a key issue. The USV bears multi-dimensional swaying motion under the influence of wind, waves and currents when sailing, which poses a great challenge to the take-off and landing of UAV. Aiming at the above challenge, this paper proposes a stable tracking robot consisting a PM (parallel Mechanism) and a planar CDPM (Cable-Driven parallel Mechanism). Firstly, according to the DOF (degree of freedom) requirements of the stable tracking robot, a hybrid mechanism with 2R1T PM and 1R2T planar CDPM was constructed on the basis of the principle of DOF distribution and the existing mechanism. Secondly, the process of assisting the take-off and landing of the UAV was determined, and the kinematics and dynamics of the stable tracking robot were carried out based on the screw algebra. Finally, the simulation experiment of the rigid-flexible hybrid stable tracking robot to assist the take-off and landing of the UAV was carried out, which verifies the correctness of the kinematics and dynamics models established, and lays a foundation for the subsequent prototype design and control. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Design and analysis of a truss deployable antenna mechanism based on a 3UU-3URU unit

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Chinese Journal of Aeronautics 2019年第12期32卷 2743-2754页

作者： Yundou XU Jinwei GUO Luyao GUO Wenlan LIU Jiantao YAO 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 College of Energy and Power Engineering Lanzhou University of TechnologyLanzhou 730050China

Space deployable structures with large calibers, high accuracy, and large folding ratios are indispensable equipment in the aerospace field. Given that the single-DOF 3 RR-3 RRR deployable unit cannot be fully folded, this study proposes a 3 UU-3 URU deployable unit with two kinds of DOF: folding movement and orientation adjustment. First, based on the G-K formula, the DOF of the 3 UU-3 URU unit is analyzed. Then, the 3 UU-3 URU unit is used to construct a deployable truss antenna with a curved surface, and the DOF of the whole deployable antenna containing multiple 3 UU-3 URU units is calculated. The structural design of a deployable antenna with two loops is carried out with specific parameters and geometric relations. Next, a DOF simulation of a basic combination unit composed of three 3 UU-3 URU units is performed. Finally, a prototype of the basic combination unit is manufactured, and the DOF of the mechanism is experimentally verified.

关键词： Basic combination unit Degree of freedom(DOF) Deployable truss antenna Simulation analysis Structural design

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Design and experimental study of the remote control for a novel patient transfer apparatus 5

Design and experimental study of the remote control for a no...

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2020 5th International Seminar on Computer Technology, Mechanical and Electrical Engineering, ISCME 2020

作者： Tian, Yu Wang, Hongbo Zhang, Yongshun Tian, Junjie Du, Jiazheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao Hebei China

This paper introduces the design of the remote control for a novel patient transfer apparatus. First, the overall design of the control system is put forward based on the working principle, and design requirements of the apparatus. Second, voltage regulator circuit of the remote control based on the MC34063 is designed to fit for the OLED displayer, parameters such as the filter capacitor have been determined. Next, wireless communication unit adopted CC1110 and the communication instruction code is introduced. Then, the interaction interface of the remote control is finished to facilitate the implementation of the adjustment functions. finally, a simulation and a real experiment has been completed, it indicates the correctness of the voltage regulator circuit and the effectiveness of the remote control respectively. © Published under licence by IOP Publishing Ltd.

关键词： Remote control

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Error modeling for the leg mechanism of the quadruped walking chair robot

Error modeling for the leg mechanism of the quadruped walkin...

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International Conference on Applied system Innovation, ICASI 2015

作者： Wang, H.B. Wang, S.S. Wen, Y.H. Chen, N. Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHeBei Province China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University QinhuangdaoHeBei Province China

ISBN: (纸本)9781138028937

To reduce the output error of the parallel robot, it is crucial to analyze the pose error of the parallel mechanism. This paper deals with the pose error analysis, and establishes the model for the effects of pose parameters and structural parameters on the accuracy of the leg mechanism. Firstly, based on the research of constraint relations on the leg mechanism of the walking chair robot, the error model is established. Then the influence of structure parameters and pose parameters on the pose error is studied. The results contribute a lot to the determination of the structural parameters and the output error of the control system. © 2016 Taylor & Francis Group, London.

关键词： Errors

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