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作者： Chen, Ziming Cao, Wen-Ao Ding, Huafeng Huang, Zhen School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Faculty of Mechanical and Electronic Information China University of Geosciences Wuhan China

parallel mechanisms (PMs) with three degrees of freedom (DOFs) have been studied extensively, especially the PMs with two rotational and one translational DOFs (2R1T PMs). One major problem of the 2R1T PMs is the inherent parasitic motion. In this paper, a novel 2R1T symmetrical parallel mechanism with no parasitic motion is proposed and studied. The moving platform and the base of this mechanism are mirror symmetric with respect to a mid-plane. This moving platform can realize continuous rotation about any axis or any point on the mid-plane and can have continuous translation along the normal line of the mid-plane. The constraint and motion characteristics of this mechanism are analyzed. The kinematics solutions and the Jacobian matrix are derived. The singularities of this PM are discussed. In the end, several numerical examples are given to show the continuous rotations and continuous translations of this PM. This kind of PMs has outstanding advantages of easy path planning and controlling. © 2014 Institution of Mechanical Engineers.

关键词： Jacobian matrices

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Analysis of a Five-Degree-of-Freedom Hybrid robot RPR/RP + RR + P 23rd

Analysis of a Five-Degree-of-Freedom Hybrid Robot RPR/RP + R...

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

作者： Ma, Xuejian Xu, Yundou Wang, Yu Yang, Fan Zhao, Yongsheng Yao, Jiantao Zhou, Yulin Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9789811993978

This work proposes a hybrid machining robot RPR/RP + RR + P based on a planar parallel mechanism. Based on the screw theory, the characteristics of the degree of freedom of the hybrid robot are analyzed, and then the inverse and forward kinematics are solved by geometric methods. And size optimization is carried out by taking the workspace and driving forces as the objects. Then the working space of the hybrid robot is calculated by the Monte Carlo method. Finally, the three-dimensional model of the mechanism is established, and through ADAMS simulation, the accuracy of the inverse kinematics solution was verified. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Inverse kinematics

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Research on the temperature characteristics of movable tooth transmission motor of electromagnetic harmonic

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Open Automation and Control systems Journal 2014年第1期6卷 1980-1986页

作者： Yubo, Ren Lizhong, Xu Parallel Robot and Electromechanical System Laboratory Yanshan University QinghuangdaoHebei China

Based on the heat transfer characteristics of electromagnetic harmonic movable tooth transmission motor, this paper adopted the finite element method to establish a three-dimensional temperature field model for numerical calculation on the basis of four basic assumptions. It analyzed the heat loss and gave out the functional to calculate the temperature field within each medium and obtain the temperature distributing curves. Then taking the prototype as an example, it calculated the steady-state temperature field of the system under different loading. The comparison between the results and measured values has verified the reasonableness of the established model and calculation method employed. The results could provide a theoretical basis for the optimized design of electromagnetic harmonic tooth transmission system. © Yubo and Lizhong;Licensee Bentham Open.

关键词： Temperature

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Influence of structural parameters of electromagnetic harmonic movable teeth transmission on system loss

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Open Mechanical Engineering Journal 2014年 8卷 778-785页

作者： Ren, Yubo Xu, Lizhong Liang, Yongli Parallel Robot and Electromechanical System Laboratory Yanshan University Qinghuangdao Hebei China

In view of the characteristics of electromagnetic harmonic movable teeth transmission system, the heat loss has been analyzed in this paper based on basic assumptions. At the same time, the calculation methods of electromagnetic loss and mechanical loss in system have been also discussed. Moreover, the influence of changes of system parameters on electromagnetic loss and mechanical loss has been analyzed through employing the field-circuit coupling finite element method. According to the analysis results, the numerical calculation model of the three-dimensional temperature field of system can be established. And the theoretical basis can be provided for the optimization design of electromagnetic harmonic movable teeth transmission system and the improvement of transmission efficiency of transmission system. © Ren et al.

关键词： Finite element method

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A Calibration Method for parallel robot Based on Eye in Hand Vision

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Zhongguo Jixie Gongcheng/China Mechanical Engineering 2020年第6期31卷 722-730and755页

作者： Li, Yongquan Wang, Haochen Zhang, Yang Zhang, Yan Zhang, Lijie Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University QinhuangdaoHebei066004 China Ministry of Education QinhuangdaoHebei066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University QinhuangdaoHebei066004 China

A calibration method of parallel robots was proposed based on eye in hand vision. Firstly, based on the loop increment method, the kinematics errors and calibration model of a planar 2-DOF redundant actuated parallel robot were established. Secondly, a target plate was designed for the calibration experiments, and the target image was captured by the camera and processed by the segmentation, recognition and rotation compensation, and then the pixel error values of the end positions and the actual positions of the mechanisms were obtained. Thirdly, limited by the structures of the mechanisms, using the boundary curve to identify the feature corner points, a method was proposed to determine the rotation angles of the detection point based on the feature corner points. On the basis of compensating the rotation angles of the camera, using a simplified model of the camera pinhole, the error values of the pixel errors were converted to the true position error values of the ends of the mechanisms. Finally, the calibration model and the error values obtained through the visual system were used for kinematics calibration. After 4 iterations, the errors of the mechanisms are decreased to 1/3, which verifies the feasibility of the robots. The proposed method has the advantages of short time of calibrations, small amount of data and low cost of experiments. © 2020, China Mechanical Engineering Magazine Office. All right reserved.

关键词： Kinematics

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Force measurement method and analysis of guide wire in minimally invasive cardiovascular interventional surgery

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Journal of Chemical and Pharmaceutical Research 2014年第1期6卷 266-270页

作者： Yang, Xue Wang, Hongbo Wang, Qiang Wu, Jianshuang Parallel Robot and Mechatronic System Laboratory of Hebei Province China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University China

This paper presents a method of detecting the resistant force that acting on the guide wire when it moving into the body blood vessel for minimally invasive cardiovascular interventional surgery operated by a robot system. To learn more about the influenced factors for measured force, some simulations of body blood flow environment have been given. And then some analyses have been worked on blood flow to study whether the parameters of blood flow influence the resistant force measurement results. All of these studies will make us know more about the reliability of this force detecting method and lay the foundation for realizing force feedback in minimally invasive surgery robot system to further improve the system reliability.

关键词： Blood vessels

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Mobility Analysis of Novel Deployable Mechanism Based on Tetrahedral Element

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2019年第12期55卷 9-18页

作者： Guo, Jinwei Xu, Yundou Liu, Wenlan 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 National Education Yanshan University Qinhuangdao066004 China

The DOF (degree of freedom) analysis is carried out for the symmetrical and asymmetrical composite unit mechanism based on the 3RR-3URU tetrahedral element and the deployable composite unit structure based on the 3UU-3URU tetrahedral basic element. Firstly, the DOF and properties of 3RR-3URU tetrahedral basic element are analyzed based on the link-demolishing and equivalent method. The basic elements are combined into symmetric 3RR-3URU composite unit and asymmetric 3RR-3URU composite unit. Then, the structures and the geometric constraints of the two composite units are analyzed, and the screw theory and G-K formula are applied to analyze the DOF of the two composite units. Secondly, in view of the problem that the composite unit based on 3RR-3URU cannot satisfy the large deployable antenna mechanism, the 3UU-3URU basic element and its composite unit are proposed, and the DOF of which are obtained according to G-K formula. Finally, the simulation models of three composite units are established, and the ADAMS simulation software is used to simulate the motion of the three combined units. The simulation results verify the correctness of the DOF analysis. The results provide an important theoretical basis for the design and analysis of tetrahedral deployable antenna mechanism. © 2019 Journal of Mechanical Engineering.

关键词： Degrees of freedom (mechanics)

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Effects of heat treatment on microstructure and properties of stainless clad plate

Effects of heat treatment on microstructure and properties o...

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International Conference on Advanced Materials and Engineering Materials, ICAMEM 2016

作者： Jin, Herong Yang, Xukun Cui, Youwei Yi, Yali Key Lab. of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9783038357018

The effect of heat treatment on microstructure and properties of Q345R/304 clad plate was studied. The microstructure of the base layer was analyzed by metallographic microscope and scanning electron microscope, and mechanical properties such as tensile, shear and impact were investigated after heat treatment. The chromium content in the compound interface was analyzed after heat treatment through spectrum analysis technology. The results show that heat treatment affects the mechanical properties and corrosion resistance of stainless clad plate significantly. After air cooling, the microstructure of the base layer consi+sts of ferrite and pearlite, the strength of clad plate is low, and the corrosion resistance is poor. After oil cooling to 450°C and air cooling, the microstructure of the base layer consists of bainite, ferrite and a small amount of pearlite. The strength and plasticity of clad plate can meet the application requirements and the corrosion resistance is excellent as well. © 2016 Trans Tech Publications, Switzerland.

关键词： Microstructure

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Model-based Synchronous Control of Redundantly Actuated parallel Manipulator with Neural Network

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Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 2018年第2期49卷 367-375页

作者： Liu, Xiaofei Yao, Jiantao Zhao, Yongsheng Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao066004 China Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China

Redundantly actuated parallel manipulator demands higher actuation coordination than the non-redundantly actuated one, thanks to its degree of actuation exceeding its degree of freedom. To improve the actuation coordination of redundantly actuated parallel manipulator, a novel model-based driving force synchronous control method with neural network was proposed. With 6PUS+UPU parallel manipulator as object, dynamic model was derived based on virtual work principle. To improve the actuation coordination of redundantly actuated parallel manipulator, a novel driving force synchronous control method was proposed on basis of force-position hybrid actuation. The synchronous control method was based on the driving force error of actuated joints and driving force adjustment was calculated by the synchronous controller. The synchronous controller was designed with neural network. What's more, the learning law of neural network controller was derived with manipulator's dynamic model to improve the learning efficiency. Model simulation and prototype experiment were carried out, and a performance comparison analysis with traditional force-position hybrid actuation method was made to verify the proposed control method. Comparison analysis revealed that, comparing with the traditional force-position hybrid actuation method, driving force synchronous control with neural network proposed could effectively improve the actuation coordination of redundantly actuated parallel manipulator. The results revealed that the synchronous control method reduced the driving force errors of whole manipulator by properly magnifying the control error of force actuated joint. © 2018, Chinese Society of Agricultural Machinery. All right reserved.

关键词： Dynamic models

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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...

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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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