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

作者： Bian, Hui Yang, Fan Sun, Zhaoliang Li, Jiachen Ding, Jiebin Li, Shuai Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Hebei Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China Hebei Qinhuangdao066004 China

ISBN: (纸本)9789811993978

An end-traction lower extremity rehabilitation robot named ETLER is designed to meet the rehabilitation needs of patients with lower extremity dysfunction at all stages of recovery, while taking into account the ease of operation for the patient. A single robot can meet the needs of a hemiplegic patient on either side for the designed end-change structure. The robots can also be used in pairs for patients with spinal cord injuries. Meanwhile, the adjustable ankle joint limit design provides customized training programs for the ankle joint. To carry out the trajectory planning of the rehabilitation robot, kinematic analysis and control strategy modeling of the robot and human–machine system are carried out. The functionality and universality of the rehabilitation robot are verified through comparative tests. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Machine design

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Influence of structure parameters on the permanent magnetic planetary gear forced vibration frequency response 4

Influence of structure parameters on the permanent magnetic ...

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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Zhu, Xue Jun Xu, Li Zhong Yanshan Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

The time and frequency forced responses for the permanent magnetic planetary gear drive were computed and analyzed. The influence of magnetization intensity and pole pair number to frequency forced responses is discussed. Results show that the dynamic displacement when only considering output excitation is larger than that when only considering input excitationand magnetic parameters have obvious effects on the low frequency vibration amplitude of elements. When magnetization intensity and pole pair number are too large or too small, they will seriously affect the dynamic performance of the system. So, selecting rational system structure parameters is very important, which can avoid system elements generating larger vibration. © (2014) Trans Tech Publications, Switzerland.

关键词： Frequency response

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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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Comfort degree of patients' rehabilitation training based on DSmT theory 2

Comfort degree of patients' rehabilitation training based on...

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

作者： Wang, Hongbo Yan, Hao Niu, Baoshan Wang, Xincheng Li, Yafeng 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 aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor information of fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling. © Published under licence by IOP Publishing Ltd.

关键词： Patient rehabilitation

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Kinematic Characteristics and Dynamics Analysis of a Double-ring Truss Deployable Antenna Mechanism

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Binggong Xuebao/Acta Armamentarii 2020年第4期41卷 810-821页

作者： Han, Bo Xu, Yundou Yao, Jiantao Zheng, Dong Li, Yongjie Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University QinhuangdaoHebei066004 China

A double-ring truss deployable antenna mechanism, which is used as the support and deployment mechanism for large-diameter space-borne antenna, is proposed to improve the stiffness of the single-ring truss deployable antenna with large diameter. The structural decomposition of double-ring truss deployable antenna mechanism is conducted, the screw constraint topology graph of the closed-loop deployable mechanism unit is drawn, and the degree of freedom (DOF) of the mechanism is analyzed. The analyzed result shows that the double-ring truss deployable mechanism has only one DOF. The screw velocity of each component in the mechanism is analyzed based on screw theory, the angular velocity and centroid linear velocity of each component are obtained through vector operation, and the Jacobian matrixes are also obtained. Furthermore, the screw accelerations of the components in the mechanism are derived based on the screw derivative, and the angular acceleration and centroid linear acceleration of each component in the double-ring truss mechanism are obtained. A dynamic model of the double-ring truss mechanism is established based on Newton-Euler equation and virtual work principle, and the numerical calculation and simulation verification are carried out. The research results show that the theoretical analysis is correct. The proposed double-ring truss deployable antenna mechanism has a simple structure, and can be smoothly deployed with only one input drive, the kinematic and dynamic analysis method based on screw theory used in this paper has a clear physical meaning, the analysis process is relatively stylized and is easy to program. © 2020, Editorial Board of Acta Armamentarii. All right reserved.

关键词： Screws

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Optimization of Bearing Capacity Parameters of Fully Decoupled Two-Rotation parallel Mechanism for Vehicle Durability Testing 23rd

Optimization of Bearing Capacity Parameters of Fully Decoupl...

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

作者： Wang, Sen Han, Xueyan Su, Xingzhen Li, Haoran Shan, Yanxia Li, Shihua School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China CITIC Dicastal Co. Ltd. Qinhuangdao066004 China

ISBN: (纸本)9789811993978

The problem of low reproduction accuracy of road spectrum of wheel-coupled vehicle durability test bench needs to be solved. From the perspective of mechanism innovation, a fully decoupled two-rotation parallel mechanism with large load-bearing capacity for vehicle durability testing is proposed in this paper. This kind of parallel mechanism can solve the problem of low-bearing capacity of fully decoupled parallel mechanisms. Based on the requirement of reproduction accuracy of real road spectrum, the degree of freedom required by the mechanism is analyzed. Due to the requirements of fully decoupled and large load-bearing, the configuration design of the parallel mechanism is carried out. In order to further improve the bearing capacity of the mechanism, based on the kinematic analysis results of the mechanism, the size parameters of the mechanism are optimized by using the graph method. The research results show that the bearing capacity of the mechanism is increased by 50% after adding the closed-loop unit and optimizing the size. The finite element simulation verifies that the load-bearing capacity of the optimized fully decoupled two-rotation parallel mechanism satisfies the design index requirements. This research lays a theoretical foundation for the application of fully decoupled parallel mechanisms with large bearing capacity. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Bearing capacity

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Profile Division and Programmatic Modeling of Tetrahedral Truss Deployable Antennas

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Zhongguo Jixie Gongcheng/China Mechanical Engineering 2019年第12期30卷 1400-1408页

作者： Han, Bo Xu, Yundou Guo, Luyao Zhang, Shuo Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University QinhuangdaoHebei066004 China

Tetrahedral truss deployable antennas were studied, and a simple profile division method was proposed. Based on MATLAB and SOLIDWORKS, a programmatic modeling method was proposed. Custom software development for SOLIDWORKS was completed by VBA programming language, and visual operation interfaces were designed. Two examples of deployable antenna mechanisms were used to verify the correctness of the profile division method and the programmatic modeling processes. The proposed profile division method proposed herein is simple and the quality of the profile mesh is good, the method of programmatic modeling is convenient and quick to model the antenna mechanisms, and the overall design efficiency is greatly improved. © 2019, China Mechanical Engineering Magazine Office. All right reserved.

关键词： MATLAB

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Research on Motion Algorithm for Intelligent Operation of Rock Drill With Eight Degrees of Freedom

Research on Motion Algorithm for Intelligent Operation of Ro...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Yundou Xu Shaoshuai Tong Zhongjin Ju Zengzhao Wang Yun Zhao Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao Hebei P.R. CHINA

ISBN: (纸本)9781538655481

An algorithm for intelligent operation of eight-degree-of-freedom hydraulic rock drill is proposed. With the help of a total station instrument, the position the rock driller was obtained. The D-H method was used to establish the linkage coordinate system of the rock drill manipulator, and the kinematic equations with joint variables being the inputs were obtained. Considering the structural characteristics of the rocker manipulator itself and the actual working conditions, the constrained equations were set, the inverse kinematic analysis was performed, and an intelligent algorithm that gave the analytical expression of each joint variable was obtained. The simulation model of the robotic arm was established by using Adams simulation software, the simulation results were in accordance with the theoretical calculations, which shows correctness of the algorithm. The research results provide a theoretical basis for follow-up drilling trajectory planning and lay a foundation for the intelligent operation of the rock drill.

关键词： Manipulators Rocks robot kinematics Kinematics Hydraulic systems Drilling machines

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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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Pre-tightening force analysis of a pre-stressed six-axis force sensor

Pre-tightening force analysis of a pre-stressed six-axis for...

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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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