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Actuation Spaces Synthesis of Lower-Mobility parallel Mechanisms Based on Screw Theory

Chinese Journal of Mechanical Engineering 2021年第1期34卷 280-291页

作者： Shihua Li Yanxia Shan Jingjun Yu Yaxiong Ke Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China School of Liren Yanshan UniversityQinhuangdao 066004China Robotics Institute Beihang UniversityBeijing 100191China

The lower-mobility parallel mechanism has been widely used in the engineering field due to its numerous excellent ***,little work has been devoted to the actuator selection and placement that best satisfy the system's functional requirements during concept *** this study,a unified approach for synthesizing the actuation spaces of both rigid and flexure parallel mechanisms has been presented,and all possible combinations of inputs could be obtained,laying a theoretical foundation for the subsequent optimization of *** to the linear independence of actuation space and constraint space of the lower-mobility parallel mechanism,a general expression of actuation spaces in the format of screw systems is deduced,a unified synthesis process for the lower-mobility parallel mechanism is derived,and the efficiency of the method is validated with two selective examples based on screw *** study presents a theoretical framework for the input selection problems of parallel mechanisms,aiming to help designers select and place actuators in a correct and even optimal way after the configuration design.

关键词： Lower-mobility parallel mechanism Screw theory Actuation space Actuator placement Input selection

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Study on the Microstructure and Properties of Eh40/2205 Interface with Fe, Co, Ni Composite Interlayer

SSRN

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SSRN 2024年

作者： Zhang, Biao Feng, Kangkang Shen, Xiaolong Yi, Yali Jin, Herong School of Mechanical Engineering Yanshan University Qinhuangdao066004 China 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

The impact of dual and triple-layer composite interlayer (CI), constructed from Fe, Co, and Ni foils, on the microstructure and mechanical properties of the interface of EH40/2205 clad plates was investigated. The findings indicated that all groups of CI had achieved metallurgical bonding between EH40 and 2205. Specifically, the Ni layer, which had been positioned close to the composite layer 2205, had hindered the diffusion of Ni and Cr, enhancing the plasticity of the clad plate. The Fe layer, situated between Ni and Co, had increased the hardness of the CI by 180~190HV through solid solution strengthening. The Co layer, located near the base layer EH40, had been approximately 70HV harder than the Ni layer, increasing the ultimate tensile strength (UTS) and ultimate shear strength (USS) of the clad plate by about 20%. Among the schemes, EH40/Co/Fe/Ni/2205 had been the preferred option, with a UTS of 549MPa and a USS of 704MPa. © 2024, The Authors. All rights reserved.

关键词： Microstructure

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Effect of Decision Way on the EEG Signal Classification Performance of Motor Imagery

Effect of Decision Way on the EEG Signal Classification Perf...

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Yanzheng Lu Hong Wang Jianye Niu Rongrong Fu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China School of Mechanical Engineering and Automation Northeastern University Shenyang China Measurement Technology and Instrumentation Key Laboratory of Hebei Province School of Electrical Engineering Yanshan University Qinhuangdao China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

Timely and accurate classification of motor imagery (MI) is crucial for its practical application. However, the effect of decision way has not been thoroughly researched in the existing studies. This paper researches the effect of decision way on the classification of MI task electroencephalogram (EEG) signals. The time-frequency analysis of pre-processed EEG signals is carried out to obtain the variation rules of different EEG rhythms in MI tasks. The power changes of MI task EEG signals are analyzed. The time domain and frequency domain features of EEG signals are extracted, and the MI task classification models with different decision ways are built. The accuracy of different decision ways on the classification of EEG signals in MI tasks are compared.

关键词： Time-frequency analysis Accuracy Pattern classification Nearest neighbor methods Brain modeling Motors Feature extraction

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A novel End-effector Finger Rehabilitation robot (EFRR) for stroke patients 7

A novel End-effector Finger Rehabilitation Robot (EFRR) for ...

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2021 7th International Conference on Manufacturing Technology and Applied Materials, ICAMMT 2021

作者： Hongbo, Wang Yu, Tian Baoshan, Niu Jiazheng, Du Junjie, Tian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Academy for Engineering and Technology Fudan University Shanghai200433 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

This paper proposes a prototype of a novel end-traction finger rehabilitation robot with flexion/extension and adduction/abduction functions. The degree of freedom (DoF) and finger joint torque of a single-finger module has been analysed, and the calculation and selection of the motor driving force are completed. Finally, the design details of the mechanism and the hardware system of the robot are illustrated. This device minimized the mechanical size to some extent by using only one motor for a single finger, which also reduces the cost and increases the possibility of industrial application prospects. © Published under licence by IOP Publishing Ltd.

关键词： End effectors

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Design and analysis of positioning manipulator structure for vascular interventional surgery robot system 4

Design and analysis of positioning manipulator structure for...

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2021 4th International Conference on Advanced Materials, Intelligent Manufacturing and Automation, AMIMA 2021

作者： Yu, Haoyang Li, Xiaolin Yao, Michenyang Wang, Hongbo Niu, Jianye Chang, Jingyuan Wang, Jiawei Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Academy for Engineering and Technology Fudan University Shanghai200433 China Tianjin Siasun Robot and Automation Co. Ltd Tianjin300000 China

The positioning manipulator is an important part of the minimally invasive vascular interventional surgical robot system. In order to make the surgical robot system have high safety, convenience and accuracy, this paper designs a modular light weight manipulator as a positioning manipulator, which is used to realize the positioning and movement of the propulsion device. First, according to the requirements of the operation, the degree of freedom and configuration method of the manipulator are determined, and the configuration design and parameter selection of the manipulator are completed. Then, according to the structural characteristics of the articulated robot, the D-H parameter method and the inverse transformation method are used to analyze the kinematics of the manipulator and its working space are analyzed. On this basis, the manipulator is analyzed by finite element and verified by static simulation. Finally, the positioning manipulator can realize the function of dragging in its working space by hand to achieve the target pose. © Published under licence by IOP Publishing Ltd.

关键词： Manipulators

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A Remotely Driven Finger Rehabilitation robot for Passive and Active Rehabilitation 12

A Remotely Driven Finger Rehabilitation Robot for Passive an...

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

作者： Wang, Hongbo Du, Jiazheng Zhang, Yongshun Tian, Yu Zhang, Dagan Ning, Yuansheng Niu, Jianye Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Academy for Engineering and Technolgy Fudan University Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China Yanshan University Key Laboratory of Advanced Forging and Stamping Technology Science of Ministry of Education Qinhuangdao066004 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this paper, a finger rehabilitation robot with flexion/extension function is developed. This device consists of a four-finger mechanism and a thumb mechanism. The four-finger mechanism is modular designed, and consists of the metacarpophalangeal joint mechanism and the proximal interphalangeal joint mechanism. The thumb mechanism has an active degree of freedom (DoF). The hardware system and software system of the finger rehabilitation robot were built, and preliminary experiments were carried out, including the passive and active movement of the single joint and the multi-finger movement. The results show the range of motion of this robot can meet the requirements of the rehabilitation, and it is able to carry out active rehabilitation training by means of the human-machine contact force, and it has the ability to realize occupational therapy training for grasping objects in different shapes. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Optimal Dimensional Design of parallel Mechanical Leg

Optimal Dimensional Design of Parallel Mechanical Leg

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IEEE International Conference on mechatronics and Automation

作者： Xingchao Zhang Hongbo Wang Yu Rong Yongfei Feng Yunxiang Bai Jianye Niu Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Department of Vehicle and Energy Yanshan University Qinhuangdao China Department of the Faculty of Mechanical Engineering & Mechanics Ningbo University Ningbo China College of Mechanical and Transportation Engineering China University of Petroleum Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In order to expand the configuration of the leg mechanism of a legged robot, a parallel Mechanical Leg (PML) with two rotational and three translational degrees of freedom (DOF) is proposed, and the structural parameters are optimized and designed based on the dexterity of the mechanism. Firstly, the mechanism configuration of the 5 DOF PML is described and its degrees of freedom are analyzed; secondly, the velocity, workspace, and Jacobi matrix of the mechanism are analyzed; finally, the inverse of the Jacobi matrix condition number is used as the index of dexterity, and the structural parameters are optimized by using the limited normalization method and the ternary plot.

关键词： Jacobian matrices Legged locomotion mechatronics Automation 5-DOF Structural engineering Indexes

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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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Inverse Kinematics of 2(3-Rps) and 2(3-Spr) Serial-parallel Manipulators

SSRN

引用

SSRN 2022年

作者： Ye, Nijia Xu, Ziwei Wang, Ren Feng, Miaomiao Hu, Bo School of Mechanical Engineering Yanshan University Hebei Qinhuangdao066004 China School of Information Science and Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Hebei Qinhuangdao066004 China

This paper solves the inverse kinematics of the serial-parallel manipulators(S-PMs) formed by the 3-RPS and the 3-SPR modularized parallel manipulators (PMs), including the 2(3-RPS) and the 2(3-SPR) S-PMs. First, the vectorial expressions of the revolute joints and the length of legs in the base coordinate system of the whole S-PMs are built. Second, based on the geometric constraints in the S-PMs, the constraint equations of the single 3-RPS/3-SPR module are established. Third, by integrating the single constraint equations of the module, the complete constraint equations concerned with the structural dimensions, the length of legs to be determined, the unknown kinematic parameters of the middle platform and the known kinematic parameters of the terminal platform are derived. Then, by using the Sylvester elimination method, the unknown kinematic parameters of the middle platform are obtained, and the inverse displacements are solved. Finally, the established models are verified by two examples. This paper provides a general inverse kinematics solution for the 2(3-RPS) and the 2(3-SPR) S-PMs. © 2022, The Authors. All rights reserved.

关键词： Inverse kinematics

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Mechanism design and simulation analysis of robot system for vascular interventional surgery 7

Mechanism design and simulation analysis of robot system for...

引用

2021 7th International Conference on Manufacturing Technology and Applied Materials, ICAMMT 2021

作者： Yu, Haoyang Wang, Hongbo Liu, Wenjie Niu, Jianye Huang, Da Yang, Xue Dong, Yu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Academy for Engineering and Technology Fudan University Shanghai200433 China School of Mechanical Engineering Jinan University Jinan China Co. Ltd Shanghai 200131 China

At present, the mortality of cardiovascular and cerebrovascular diseases is getting higher and higher, interventional surgery has obvious advantages over traditional surgery, and robot technology has also entered this field. Combined with the existing research results, a set of surgical robot system is designed. The operating device uses magnetic powder brake to provide real force feedback of braking torque, the propulsion device adopts a clamping rod structure to accurately clamp the catheter or guide wire, and the force signal is collected by using the lever principle. Finally, the study of the dynamic characteristics of the propulsion device shows that the smaller the quality and the higher the tension force are, the more favorable the performance of the propulsion device is, and the calculation verifies the rationality of the transmission part of the propulsion device. © Published under licence by IOP Publishing Ltd.

关键词： Machine design

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