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2014 International Conference on mechatronics, Electronic, Industrial and Control Engineering, MEIC 2014

作者： Wang, Zhijun He, Jing Liu, Wanyu Zhao, Yongsheng College of Mechanical Engineering Hebei United University Tangshan China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Tangshan Industrial Vocational Technical College Tangshan China

ISBN: (纸本)9789462520424

By using sphere pair with unilateral constraint, the limbs of the proposed pre-stressed six-axis sensor must be under pressure in the measurement process, so prior to measurement, a certain preload must be applied to the sensor. The viable limbs' number of the pre-stressed six-axis force senor is determined by using convex theorem. By solving the static equilibrium equation of sensor, the reacting forces on limbs are divided into two parts: the particular solution is generated by the external force, while the homogeneous solution is only concerned with the pre-tightening force. The number of parameters to be determined in homogeneous solution is decreased by linear transform, and the method for determining the pre-tightening force is derived to make all the limbs compressed when it is subjected to the expected range of external force. A numerical example to determine the pre-tightening force of the force sensor is performed. The numerical example results show that the force on limbs can always maintain positive value with the appropriate pre-tightening force, which proves the correctness of the theoretical analysis and the validity of the sensor structure. © 2014. The authors - Published by Atlantis Press.

关键词： Numerical methods

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Active training research of a lower limb rehabilitation robot based on constrained trajectory

Active training research of a lower limb rehabilitation robo...

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International Conference on Advanced mechatronic systems (ICAMechS)

作者： Hongbo Wang Dong Zhang Hao Lu Yongfei Feng Peng Xu Razvan-Viorel Mihai Luige Vladareanu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Mechatronics Laboratory Institute of Solid Mechanics Bucharest Romania

In order to help patients achieve effective and coordinating multi-joints movement easily, the paper presents an active training method of a lower limb rehabilitation robot based on constrained trajectory. The realization process of the method is as follows. The patient's movement intention is recognized by analyzing the signals from torque sensors installed in rehabilitation robot joints, and the moving velocity of the mechanical arm terminal is calculated through the establishment of the damping function and the design of constrained trajectory. The velocity of joints can be calculated through kinematic Jacobi matrix, and is used to drive the joints. The moving velocity of the mechanical arm terminal on a constrained trajectory can be controlled through adjusting the damping function, in order to achieve the active rehabilitation training for different patients at different levels. Finally, the feasibility of the method is validated by the experiment.

关键词： Decision support systems robots Training Damping Erbium Conferences mechatronics

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Design of a positioning manipulator for minimally invasive vascular interventional surgery robot system 15

Design of a positioning manipulator for minimally invasive v...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Wang, Hongbo Wang, Xusheng Guan, Bo Chang, Jingyuan Yu, Haoyang Tian, Hesuo Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Zhejiang Youren intelligent robot Co. Ltd No. 175 Anshan Road Yuyao Zhejiang Province15400 China

ISBN: (纸本)9781538660720

In order to realize the flexibility and positioning reliability of the positioning manipulator of the minimally invasive vascular interventional surgery robot system, and to avoid the problem of fixed programming of the active positioning manipulator, a new passive positioning manipulator was designed. First, based on the requirements of the system and the self-balancing conditions of the passive positioning manipulator, a configuration of the manipulator is proposed, and the degree of freedom and working space are verified to meet the requirements of the working conditions. Then, according to the characteristics of simultaneously locking and release of the joints when the manipulator works, a locking scheme of multi-joint is proposed, and the design of the mechanical structure is carried out in detail. Finally, the positioning manipulator can achieve the function of being dragged under artificial operation and locating whenever and wherever necessary. © 2018 IEEE.

关键词： Manipulators

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

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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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Kinematics Analysis of a New parallel Mechanism with Complete Separation of Constraints and Drives 16th

Kinematics Analysis of a New Parallel Mechanism with Complet...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Qiu, Can Wang, Yu Wu, Jiabin He, Xiaoyu Ma, Xuejian Xu, Yundou Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9789819964888

At present, there is a growing demand for parallel mechanisms with fewer inputs and more outputs. These mechanisms are highly sought after in industries such as aerospace, antenna, and entertainment facilities, among others. Therefore, this paper proposes a new parallel mechanism (PM) that utilizes separation of constraints and drives, resulting in centralized drive management. Thereby achieving a small amount of driving to drive multiple parallel moving platforms. For example, 3nRRS/PPPS parallel mechanism. In this study, we utilize the closed-loop vector method to obtain the inverse solution for the 3RRS/PPPS parallel mechanism. To perform a static analysis, we construct a complete Jacobian matrix for the mechanism. Under the premise of satisfying the workspace, the key dimensional parameters of the mechanism were optimized with the objective of improving the load-carrying capacity of the mechanism and minimizing the driving force. The method of complete separation of constraints and drives is easier to centrally manage drives, greatly improving energy utilization and work efficiency, and having a wide range of application scenarios in antenna, entertainment facilities, and other situations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Inverse problems

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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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Design and Analysis of a Novel Ring Truss Deployable Antenna Mechanism 16th

Design and Analysis of a Novel Ring Truss Deployable Antenna...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Han, Bo Yuan, Zhantu Zhou, Yuanzhi Liu, Feng Yao, Jiantao Zhao, Yongsheng Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao066004 China

ISBN: (纸本)9789819965038

With the development of astronautics, satellite antenna as an important communication equipment has also gradually developed to large scale. In this paper, a novel ring truss deployable antenna mechanism is proposed. The mechanism has three layers of installation points with height differences between them, which can be used to ensure that all the installation points will be distributed on the profile of the cable network, and this characteristic ensures the mechanism can be utilized to the maximum. Then the degrees of freedom (DOF) and kinematics of the ring truss deployable mechanism are analyzed using screw theory, where the analysis shows that the DOF of the overall ring truss deployable mechanism is equal to one. Following that, the dynamics model about the mechanism unit is established using the second type of Lagrange equations. Based on this dynamic model, the effect of torsion spring stiffness on the deployment process is discussed and the conclusion is verified by simulation. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Trusses

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Research on the Process-based Generation Method of Multi-ships Collision Avoidance Test Scenarios Database for Maritime Autonomous Surface Ships 33rd

Research on the Process-based Generation Method of Multi-shi...

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33rd International Ocean and Polar Engineering Conference, ISOPE 2023

作者： Wang, Xinyu Wang, Yihang Bian, Hui Ma, Jilin Zhao, Xuan Qinhuangdao Branch China Classification Society Hebei China School of Mechanical Engineering Yanshan University Hebei China Parallel Robot and Mechatronic System Laboratory Hebei Province Hebei China Key Laboratory of Advanced Forging & Stamping Technology and Science Hebei China Science & Technology Innovation and Test Center Beijing China

ISBN: (纸本)9781880653807

This paper proposes a process-based method for generating virtual test scenarios for near-shore maritime autonomous surface ships (MASS) collision avoidance tests. The method includes a scenario complexity index to provide different difficulty levels of virtual test scenarios for different test requirements, reducing the test volume while ensuring coverage and reliability requirements. The scenario database generated by this method reflects the frequency of real-world scenarios and meets the requirements of virtual test realism. This method can improve the efficiency and reliability of MASS testing, with potential future improvements in the complexity evaluation matrix and statistical analysis of vessel maneuvering ability. © 2023 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Ships

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Research on Active Training Model of Rehabilitation robot Based on Joint Torque Signal 2

Research on Active Training Model of Rehabilitation Robot Ba...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Yan, Hao Yan, Yonggan Li, Yungui Niu, Baoshan Liu, Meng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University China Academy for Engineering and Technology Fudan University Shanghai China

This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force of the patient. According to the damping control strategy, the end force and speed mapping function planning is completed. The joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion. © Published under licence by IOP Publishing Ltd.

关键词： Balancing

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