检索结果-内蒙古大学图书馆

Advanced Electronic Materials, Computers and Software Engineering (AEMCSE), International Conference on

作者： Ye Wang Xinyu Hu Yongfei Feng Shuangshuang Li Dalian University of Technology Dalian China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Ningbo University Ningbo China

ISBN: (数字)9781728181431

ISBN: (纸本)9781728181448

According to the requirements of the service-oriented robot's precise posture and high operability, an embedded DC servo motor controller based on STM32F103C8T6 microcontroller (MCU) is designed, and a half-board bridge driving chip is used as the driving unit. The controller has four working modes: current mode, speed mode, position mode, and teaching mode. The hardware circuit of the controller is designed and an experimental platform is built. Based on the experimental platform, the working performance of the DC servo motor in different modes is tested. The experimental results show that the controller has better control effect on the DC servo motor and can well meet the working requirements of the service robot.

关键词： DC servomotor Motor controller Embedded system DC servomotor Embedded systems Controllers Service robots

来源：评论

学校读者我要写书评

暂无评论

Kinematic Characteristics and Dynamics Analysis of the Tetrahedral Deployable Mechanism Based on the Screw Theory

引用

Jiqiren/robot 2020年第1期42卷 21-28and38页

作者： Han, Bo Han, Yuanyuan Xu, Yundou Zheng, Dong Yao, Jiantao Zhao, Yongsheng 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 Education Yanshan University Qinhuangdao066004 China Department of Mathematics and Computer Science Hengshui University Hengshui053000 China

In order to solve the modeling and analysis problems of the kinematics and dynamics of the spaceborne tetrahedral space deployable antenna, a kinematics and dynamics characteristics analysis method based on screw theory is established. Firstly, configuration and geometric characteristics of the 3RR-3RRR tetrahedral deployable mechanism are analyzed, its screw constrained topology diagram is obtained based on screw theory, and its degree of freedom (DOF) is calculated to be only one. Then, the kinematics analysis of the mechanism is conducted, the velocities of the components are obtained through the combinatorial operation of kinematic twists, and the Jacobian matrix of this mechanism is also obtained. The 6-dimensional acceleration of each component is expressed by the screw derivative, and the angular accelerations and centroid linear accelerations of the node disks and rods are deduced. Finally, the dynamic equation is established based on the Newton-Euler equation and the principle of virtual work, and the numerical calculation and simulation verification are carried out. The simulation results are completely consistent with the numerical results, which verifies the correctness of the kinematics and dynamics characteristics analysis method based on screw theory. Every parameter has clear physical meanings in the analysis based on the proposed method, and the analysis process is easy to program due to its stylization and is suitable for the analysis of such spatial deployable mechanisms. © 2020, Science Press. All right reserved.

关键词： Screws

来源：评论

学校读者我要写书评

暂无评论

Integration mode of standing balance and trajectory training based on lower limb rehabilitation exoskeleton

Integration mode of standing balance and trajectory training...

引用

IEEE International Conference on robotics and Biomimetics

作者： Tong Zhou Jianjun Yuan Shugen Ma Tieshi Zhao Sheng Bao Liang Du Weiwei Wan Zhongying Liu Ye Zhang Shanghai Robotics Institute Shanghai University Shanghai China Ritsumeikan University Shiga Japan Graduate School of Engineering Science Osaka University Toyonaka Japan Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao China

ISBN: (纸本)9781665405362

Lower limb rehabilitation exoskeletons (LLREs) are widely researched to assist patients with lower limb function injury, but there is a lack of researches on rehabilitation modes to help patients exercise balance ability. In response to this deficiency, the prototype of LLRE is introduced in this paper, including the design of mechanical, electrical and control systems. The kinematic models of leg abduction mechanism (LAM) and unilateral mechanical leg are established, and their workspaces are analyzed. Based on the prototype, an innovative rehabilitation mode integrating standing balance and trajectory training is designed. The training effects are demonstrated in the human subject experiments, the patient's center of gravity can be effectively transferred, the performance of the prototype is also verified by the trajectory tracking effect. The proposed mode is promised to enrich the rehabilitation mode of exoskeleton robots and improve the training effect.

关键词： Training Legged locomotion Trajectory tracking Exoskeletons Prototypes Kinematics Trajectory

来源：评论

学校读者我要写书评

暂无评论

Dynamic Modeling Method of Spatial Passive Over-constrained parallel Mechanism Based on Newton Euler Method

引用

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2020年第11期56卷 48-57页

作者： Li, Yongquan Guo, Yu Zhang, Yang Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The 4-RPTR four-degree-of-freedom space passive over-constrained (redundant constrained) parallel mechanism is taken as the research object, and the Newton Euler method combined with the complementary deformation coordination equation is used to analyze the dynamics. The number of dynamic equations based on Newton's Euler method is 78, but due to the existence of passive over-constraints of the mechanism, the unknown variables of the required solutions are 80. When the eight deformation coordination equations are added according to the method of planar over-constrained mechanism, it will be linearly related to the 78 equations built, resulting in the equations being unable to solve. Based on this, when proposing the dynamics modeling of passive over-constrained parallel mechanism, the reason for the passive over-constraint of the mechanism should be analyzed firstly. On this basis, adding the deformation of the member caused by the redundant constrained force (torque) and the position and posture error of the terminal platform as a complementary equation ensures that the equations are linearly independent and can be solved. To this end, the relationship between the deformation of the rod and the position and posture error of the terminal platform caused by the rotational joint restraining torque directly causing the redundant constraint is introduced, and eight deformation coordination equations are added, and six unknown variables are introduced, thereby obtaining 86 equations. Containing 86 unknowns, and the equations are linearly independent, the dynamic solution model of the mechanism is obtained. Based on matlab and adams software, the dynamics simulation of the mechanism is carried out. When the same motion trajectory is given at the terminal of the platform, the correctness of the dynamic model can be seen by comparing the driving force variation curves of the two methods. It provides a new idea for dynamic modeling of this type of space passive over-constrai

关键词： Dynamics

来源：评论

学校读者我要写书评

暂无评论

Kinematic, Workspace and Force Analysis of a five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

Research Square

引用

Research Square 2021年

作者： Xu, Yundou Yang, Fan Mei, Youen Zhang, Dongsheng Zhou, Yulin Zhao, Yongsheng Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology Science of Ministry of National Education Yanshan University Qinhuangdao006004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Tencent Robotics X Tencent Holdings Shenzhen518057 China

In the present study, the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective. In this paper, kinematics of the hybrid manipulator, including the forward and inverse position, are analyzed. Then, the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements, and the actual workspace of the hybrid robot is analyzed. After that, the force analysis of the over-constrained parallel mechanism is carried out, and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation. Based on the obtained results from the force analysis, the manipulator structure is design. Then, the structure optimization is carried out to improve the robot stiffness. Finally, calibration and workspace verification experiments are performed on the prototype, cutting experiment of an S-shaped aluminum alloy workpiece is completed, and the experiment verifies the processing ability of the prototype and proves that the prototype has good application prospects. © 2021, CC BY.

关键词： Kinematics

来源：评论

学校读者我要写书评

暂无评论

Analysis and prediction of multi-joint coupling torque of fingers

Analysis and prediction of multi-joint coupling torque of fi...

引用

2019 Intelligent Rehabilitation and Human-Machine Engineering Conference, IRHE 2019

作者： Yu, Jinxu Zheng, Lin Bai, Xiaolin Du, Yihao Zhang, Lijie Xie, Ping Hebei Province Key Laboratory of Parallel Robot and Mechatronic System Institute of Mechanical Engineering Yanshan University Qinhuangdao China Hebei Province Key Laboratory of Intelligent Rehabilitation and Neuromodulation Institute of Electric Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9781839534997

In this paper, a method of analysis and modelling of multi-joint coupling torque of finger is proposed, which can be used to predict the multi-joint coupling torque of fmger m real time Firstly, through the analysis of muscle contraction dynamics and muscle activation dynamics, the single joint neuromusculoskeletal model of finger was established, and the joint torques of metacarpophalangeal (MCP) joint, proximal mterphalangeal (PIP) joint and distal phalangeal (DP) joint were solved. Then, the finger D-H model was established, and the joint torques of MCP joint and PIP joint were equivalent to the point of DP joint by the principle of virtual work. The multi-joint neuromusculoskeletal model of the finger is established, and the coupling torque of the whole finger during flexion and extension is obtained. Finally, 17 parameters in the finger multi-joint neuromusculoskeletal model were identified, and data acquisition experiments were set up The model prediction torque and software simulation torque were compared, and the root mean square error (RMSE) of the coupling torque is 0.3275, which indicates that the model has a good effect in predicting the finger joint torque and the multi-joint coupling torque. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Data acquisition

来源：评论

学校读者我要写书评

暂无评论

Game Scene Construction for Lower Limb Rehabilitation robot Based on Virtual Reality

Game Scene Construction for Lower Limb Rehabilitation Robot ...

引用

International Conference on Electromechanical Control Technology and Transportation (ICECTT)

作者： Yongfei Feng Di Jin Qianjun Shao Jianye Niu Luige Vladareanu Hongbo Wang Faculty of Mechanical Engineering & Mechanics Ningbo University Ningbo China Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Hebei University of Technology Tianjin China Robotics and Mechatronic Department Institute of Solid Mechanics of the Romanian Academy Bucharest Romania Parallel Robot and Mechatronic System Laboratory of Hebei Province and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (数字)9781728199283

ISBN: (纸本)9781728199290

At present, the number of patients with lower extremity dysfunction is increasing year by year. However, traditional rehabilitation training cannot meet the needs of patients for rehabilitation training. Rehabilitation robot is a good solution to train patients instead of the rehabilitation physician. Based on clinical practice experience, a lower limb rehabilitation training system based on virtual reality (VR) is designed, which combined the VR technology and rehabilitation evaluation program to improve the rehabilitation efficiency of patients. According to the functional requirements of the lower limb rehabilitation robot (LLR-RO), the construction of rehabilitation robot control system and sensor system is completed. Based on the Unity3D development environment, a VR scenes of space shooting is planned and created for rehabilitation training VR technology which enables patients to complete the training process while maintaining a pleasant mood. Through the software and hardware debugging, the feasibility, data transmission capability of VR-based remote rehabilitation training system and the synchronization performance of VR scenes and rehabilitation robots are verified. In the future, more virtual reality scenes will be studied to adapt to patients of different genders and ages.

关键词： Games Training Rehabilitation robotics Space vehicles Legged locomotion Aircraft Aerospace electronics

来源：评论

学校读者我要写书评

暂无评论

Analysis and Optimization of a Spatial parallel Mechanism for a New 5-DOF Hybrid Serial-parallel Manipulator

引用

Chinese Journal of Mechanical Engineering 2018年第3期31卷 60-68页

作者： Dong-Sheng Zhang Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University

Hybrid manipulators have potentially application in machining industries and attract extensive attention from many researchers on the basis of high sti ness and high dexterity. Therefore,in order to expand the application prospects of hybrid manipulator,a novel 5?degree?of?freedom(DOF) hybrid serial?parallel manipulator(HSPM) is proposed. Firstly,the design plan of this manipulator is introduced. Secondly,the analysis of this manipulator is carried out in detail,including kinematics analysis,statics analysis,and workspace analysis. Especially,an amplitude equivalent method of disposing the over?constrained force/couple to the non?overconstrained force/couple is used in the statics analysis. Then,three performance indices are used to optimize the PM. Two of them have been widely used,and the third one is a new index which considers the characteristics of the actuated force. Based on the performance indices,the performance atlas is drawn and the optimal design of the PM is investigated. In order to satisfy the anticipant kinetic characteristics of the PM,the verification of the optimized physical dimension is done and the workspace based on the optimized physical dimension is carried out. This paper will lay good theoretical foundations for application of this novel HSPM and also can be applied to other hybrid manipulators.

关键词： parallel mechanism Performance indices Optimal design Performance atlas

来源：评论

学校读者我要写书评

暂无评论

Dynamic Parameter Identification, Control and Experiment of an Electromechanical Coupling Multi-energy Domain system For a parallel robot

引用

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2018年第11期54卷 141-150页

作者： Li, Yongquan Wang, Lijie Liu, Tianxu Zhang, Yang Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Ministry of Education of China Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

The planar 2-DOF redundant actuation parallel robot is taken as the object of study. Combining with two methods of Lagrange equation and bond graph, the dynamics model of the electromechanical coupling multi-energy domain system of the robot is established. According to the characteristics of the robot, a method of undetermined coefficients for linearization of dynamic models is presented, and by means of this method, the linearized form of dynamic model of the electromechanical coupling multi-energy domain system is obtained, which can avoid the error caused by the linearized form of the dynamic model obtained by the traditional simplified method. The excitation trajectory of identification is constructed by Fourier series improved by quintic polynomial form. The experimental platform of dynamic parameter identification is built, the identification of the dynamic parameters of the electromechanical coupling system is studied by the weighted least square method base on the experiment. The proposed identification strategy can not only identify the inertial parameters and friction parameters of the mechanism, but also identify the equivalent moment of inertia and the equivalent friction coefficient of the motor and the reducer. The force/position hybrid control strategy base on the computed torque is designed, and the identified dynamic parameters are applied to the control strategy. The practicability of the identification of the dynamic parameters of the electromechanical coupling multi-energy domain system and the correctness of the force/position hybrid control strategy based on the computed torque are verified by experiments. © 2018 Journal of Mechanical Engineering.

关键词： Dynamic models

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：