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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

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Analysis and simulation of parallel lifting mechanism for schnable car based on complex vector 2

Analysis and simulation of parallel lifting mechanism for sc...

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2nd International Conference on Applied mechatronics and Android robotics, ICAMAR 2014

作者： Zhao, Yan-Zhi Wang, Xiang-Nan Bai, Xue-Gang Ren, Yu-Bo Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University China Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9783038353119

The working conditional model of schnable car has been established and the principle of lifting mechanism has been analyzed. By complex vector method, we analyze the kinematics of the lifting mechanism and get the position, speed and acceleration curves of relevant objects under the lifting progress. We have a static analysis on lifting mechanism, and get the relationship curve of the cylinder’s force and generator’s mass by mathematical Calculation. Kinematics simulation test is proceeded by ADAMS. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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Innovative design and optimization of a two-dimensional deployable nine-grid planar antenna mechanism with a flat reflection surface

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Chinese Journal of Aeronautics 2023年第11期36卷 529-550页

作者： Bo CHEN Ze JIANG Xinlu WEI Luyao GUO Xin ZHOU Yundou XU Junjie QIAN 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 Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.Ltd Shanghai 201109China Aerospace System Engineering Shanghai Shanghai 201109China

With the development of the aerospace industry,space missions are becoming more complicated and diversified,and there is a demand for antenna mechanisms with a larger physical *** this paper,a planar deployable mechanism is proposed,which can form a flat reflection surface with a small gap between *** this end,a novel large-scale two-dimensional deployable nine-grid planar antenna mechanism is ***,two antenna folding schemes and four supporting mechanism schemes are *** comparison analysis,the antenna configuration scheme with the best comprehensive performance is selected.A kinematic model of the deployable mechanism is established,and its kinematic characteristics are ***,the correctness of the kinematic model is verified by comparing the analytical and simulation results of the kinematic ***,a finite element model of the antenna is *** on the response surface method,the structural parameters of the support rods of the antenna are optimized,and a set of optimized solutions with lightweight and high fundamental frequency characteristics are ***,a prototype of the proposed nine-grid planar antenna is *** feasibility of the deployment principle and the rationality of the designed mechanism are verified by deployment experiments.

关键词： Design optimization Kinematics Planar antenna Structural design Two-dimensional expansion

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

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 232-243页

作者： Yundou Xu Fan Yang Youen Mei Dongsheng Zhang Yulin Zhou Yongsheng Zhao Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 006004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Tencent Robotics X Tencent HoldingsShenzhen 518057China

In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research *** this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ***,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 *** 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 *** on the obtained results from the force analysis,the manipulator structure is ***,the structure optimization is carried out to improve the robot ***,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 machining ability of the *** work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.

关键词： Hybrid manipulator Over-constrained Kinematic analysis Stiffness analysis

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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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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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A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated parallel Mechanisms with Closed Loop Units

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Chinese Journal of Mechanical Engineering 2020年第6期33卷 134-157页

作者： Yongquan Li Yang Zhang Lijie Zhang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen518052China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan UniversityQinhuangdao066004China

The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms,or using screw theory to perform multiple getting intersection and union to complete type *** number of redundant parallel mechanisms obtained by these two methods is *** this paper,based on Grassmann line geometry and Atlas method,a novel and effective method for type synthesis of redundant actuated parallel mechanisms(PMs)with closed-loop units is ***,the degree of freedom(DOF)and constraint line graph of the moving platform are determined successively,and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph,and a branch constraint allocation scheme is formulated based on the allocation ***,a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop ***,the branch chains that meet the requirements of branch chains configuration criteria and F&C(degree of freedom&constraint)line graph are *** this paper,two types of 2 rotational and 1 translational(2R1T)redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational(2T1R)redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples,and 238,92 and 15 new configurations were *** the mechanisms contain closed-loop units,and the mechanisms and the actuators both have good ***,all the mechanisms have excellent comprehensive performance,in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently *** instantaneous analysis shows that all mechanisms are not instantaneous,which proves the feasibility and practicability of the method.

关键词： Redundant actuated parallel mechanisms Type synthesis Atlas method Instantaneous analysis

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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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Research on the Process-based Generation Method of Scenarios Database for Maritime Autonomous Surface Ship Test 7

Research on the Process-based Generation Method of Scenarios...

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2022 7th International Conference on Electronic Technology and Information Science, ICETIS 2022

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

ISBN: (纸本)9783800757794

In recent years, Maritime Autonomous Surface Ship (MASS) has been developed rapidly and has demonstrated many new capabilities, which poses a challenge to the testing methods of autonomous ships. Currently, traditional test methods is no longer sufficient to support comprehensive testing and verification. For virtual testing, there is still a lack of a reliable virtual test scenario generation process. Therefore, this paper proposes a method for generating virtual test scenarios for autonomous ships. It is based on the scenario generation frame of the intelligent car and comprehensively considers the feature of the operating environment of the MASS. This process develops an element database by deconstructing the real scenes. For generating, it reconstructs and assigns the elements according to the test task (functional scenario) and the logical relationship between the elements (logical scenario) to reconstruct the new scenario. The new scenarios obtained in this way are optimized and supplemented to be the test scenarios database. In addition, a prototype following this frame was designed and loaded with the "automatic pathfinding task of the Wuhan section of the Yangtze River under good navigation conditions" for testing. The experiment generated 48 different scenarios, proving that this generator can output a comprehensive test scenario database to meet test requirements. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Database systems

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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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