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检索条件"机构=Parallel Robot and Mechatronic System Laboratory of Hebei Province"

共 168 条记录，以下是51-60 订阅

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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...

引用

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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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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Mechanism Design and Walking Stability Study of (2UPS-U) +R Series-parallel Hybrid Bionic Wheel-Legged Quadruped robot

Mechanism Design and Walking Stability Study of (2UPS-U) +R ...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Shanshan Wang, Hongbo Li, Dong Li, Minghao Li, Lianqing Tian, Yu Niu, Jianye Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Qinhuangdao066004 China Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Key Lab. of Advanced Forging Stamping Technology and Science of Ministry of Education of China Qinhuangdao066004 China

ISBN: (纸本)9798350325706

In this paper, a bionic-based design of a series-parallel hybrid wheel-legged quadruped robot that can realize wheel-foot transformations is presented to achieve footed stable walking, and a method of measuring the static stability of the robot by the evaluation of the torque of the supporting leg rotor axis is proposed with the consideration of the robot's leg mass. Firstly, the whole robot position is solved;Secondly, the force on the robot during static walking is analyzed, and the stability of its static walking is also analyzed from the moment perspective;Finally, the stabilizing support region for static walking is solved, and the stabilizing support region for the robot in such a motion state is calculated. This paper provides high reference significance and value for the mechanism design and walking stability research of series-parallel hybrid wheel-legged quadruped robots. © 2023 IEEE.

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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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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

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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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Analysis of force transducer calibration accuracy based on different influence factors

Analysis of force transducer calibration accuracy based on d...

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作者： Zhao, Yan-Zhi Li, Gui-Tao Niu, Zhi Weng, Da-Cheng Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Ministry of Education of China Qinhuangdao 066004 China Ministry of Education of China Qinhuangdao 066004 China

ISBN: (纸本)9783038351221

The actual use conditions of force transducer is differences between the factory verificationconditions, so based on the structure and working principles, this article is aimed at accurate calibration and proper use of force transducer. Through the CAE simulations and calibration experiments in actual working conditions which are the installation pre-tightening force, structure of fittings and pedestal's hardness, analyses the output signals of force transducer. Force standard machine was carried out on the calibration experiment to verify the correctness of the numerical simulation. And then the outcomes obtained by numerical simulations and the calibration experiments, it studies the differences of every output performance index of force transducers in different working conditions above-mentioned. © (2014) Trans Tech Publications, Switzerland.

关键词： Calibration

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Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot 2

Dynamics analysis and simulation of a new 6-DOF lower limb r...

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

作者： Wang, Hongbo Lin, Musong Yan, Yonggan Liu, Guowei Su, Bowen Zhao, Chaosheng Wang, Fuhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao China Academy for Engineering and Technology Fudan University Shanghai China

This paper proposes a new hybrid (parallel-serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future. © Published under licence by IOP Publishing Ltd.

关键词： Joints (anatomy)

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Type Synthesis Method of Unconstrained SRCPR Based on Actual Workspace for Serial robots 2021

Type Synthesis Method of Unconstrained SRCPR Based on Actual...

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2021 International Conference on robotics and Control Engineering, RobCE 2021

作者： Qi, Lizhe Shan, Yu Zhang, Jie Zhao, Yanzhi Li, Erwei Sun, Yunquan Fudan University Academy for Engineering and Technology China Liren College of Yanshan University China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University China

ISBN: (纸本)9781450389471

In the field of industrial serial robots, the main problems existing at present are how to get the overall configuration of the serial robot and how to choose the optimal configuration of the serial robot. Aiming at these problems, this paper discussed the type synthesis problems of serial robots with prismatic pairs (P pairs) and rotational pairs (R pairs), and proposed a type synthesis method of unconstrained SRCPR (the serial robot configuration (SRC) with P pairs and R pairs) based on actual workspace for industrial robots. First, the "structural cell"of the serial robot SRCPR was proposed, and their topological relations were illustrated. Meanwhile, the dimensions of SRC were defined. Then, the relationships between the dimension of actual workspace and the dimension of SRC were founded. Finally, the type synthesis theoretical method of SRCPR was obtained by using the relationships. © 2021 ACM.

关键词： Industrial robots

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