Parallel Robot and Mechatronic System Laboratory of Hebei Province

Laboratory of, China

Parallel Robot and Mechatronic System Laboratory of Hebei Province

Laboratory of, China
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Yang X.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Wang H.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Wang H.,Yanshan University | Wang Q.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Wu J.,Parallel Robot and Mechatronic System Laboratory of Hebei Province
Journal of Chemical and Pharmaceutical Research | Year: 2014

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.


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Wang P.,Yanshan University | Zhao S.,Yanshan University | And 3 more authors.
Robotics and Computer-Integrated Manufacturing | Year: 2014

A novel 5-DoF parallel manipulator (PM) with two composite rotational/linear active legs is proposed and its kinematics and statics are studied systematically. First, a prototype of this PM is constructed and its displacement is analyzed. Second, the formulas are derived for solving the linear/angular velocity and acceleration of UPS composite active leg. Third, the Jacobian and Hessian matrices are derived and formulas for solving the velocity, statics and acceleration of this PM are derived. Third, a reachable work space is constructed using a CAD variation geometric approach. Finally, the kinematics and statics of this PM are illustrated and solved. The solved results are verified by the simulation results. © 2013 Elsevier Ltd. All rights reserved.


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Yu J.,Yanshan University | Liwei C.,Yanshan University | And 4 more authors.
International Journal of Robotics and Automation | Year: 2014

The stiffness and elastic deformation of a 3-leg 5-DoF parallel manipulator (PM) with asymmetrical structure and composite active legs are studied systematically. First, a 3-leg 5-DoF 2SPS+PRRPR PM with asymmetrical structure and composite active legs is constructed and its structure constraint characteristics are analyzed. Second, the formulae are derived for solving the elastic deformation and the compliance matrix of the asymmetrical active legs, an asymmetrical stiffness matrix is established for this PM and the elastic deformations of moving platform and legs are solved and analyzed. Finally, a finite element (FE) model of this PM is constructed and the simulation solutions of the elastic deformations of the moving platform are obtained and analyzed. The analytic solutions of the elastic deformations of this PM are verified by its FE simulation solutions.


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei province | Liu Y.,Yanshan University | Ye N.,Yanshan University
Advanced Robotics | Year: 2016

A novel 5-DOF 3SPU+2SPRR type parallel manipulator is proposed. First, the formulae are derived for solving the kinematics parameters of the moving platform. Second, the kinematics of the active legs and connection rod are analyzed, and the formulae for solving velocity and acceleration of the active legs and connection rod are derived. Third, the formulae are derived for solving the dynamic active and constrained forces. Finally, an analytic example is given for solving the dynamics, and the analytic solved results are verified by the mechanism simulation. This paper is aimed at laying a solid theoretical and technical foundation for its prototype manufacture and control. © 2016 Taylor & Francis and The Robotics Society of Japan.


Yao J.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Yao J.,Yanshan University | Zhu J.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Zhu J.,Yanshan University | And 6 more authors.
IEEE Sensors Journal | Year: 2013

To meet the high reliability requirement under complicated environment and overcome the disadvantages of parallel structure six-component force sensor with traditional spherical pairs, the design concepts of fault-tolerance and fully prestressing are proposed to the design of parallel six-component force sensor. A kind of fault-tolerant and fully prestressed parallel structure force sensor using modified spherical pairs is proposed. The structural characteristics of the sensors are analyzed in comparison with traditional Stewart platform-based sensor. The complete mathematic model including the models with and without signal fault is established using screw theory and considering the relations of stiffness and force distribution. The mathematical expression to obtain the lower bound of prestressed force is determined. The static calibration experimental study of a sensor prototype is carried out, and the experimental results prove the superiority of the structure and the correctness of theoretical analysis. Besides, a fault diagnosis method is proposed and verified with a tracking task, which provides a basis for the applied research of the fault-tolerant sensor. © 2001-2012 IEEE.


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Liu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Dong Y.S.,Parallel Robot and Mechatronic System Laboratory of Hebei Province
Journal of Mechanical Engineering Research and Developments | Year: 2014

The parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized and a closed forward displacement analysis is performed for a novel 5-DoF parallel manipulator (PM) with 2 equivalent composite universal joints Ue. First, ten novel parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized. Second, the kinematic model of a 5-DoF 4SPS+SPR PM with 2 composite spherical joints Sc are established. Third, the novel 5-DoF PM with 2Ue is created based on 4SPS+SPR PM by replacing each of 2Sc with Ue, and the formulae are derived for solving forward displacement of the proposed 5-DoF PM with 2Ue. Finally, an analytic example is given for solving the forward displacement of proposed 5-DoF PM with 2Ue, and the analytic solved results are verified by the simulation mechanism using CAD variation geometry.


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Li X.P.,Yanshan University
Advanced Robotics | Year: 2014

A novel 6-DoF parallel manipulator I with three planar limbs is proposed and its dynamics is analyzed systematically. First, its characteristics and DoF are analyzed and calculated. Second, the formulae for solving kinematics of the moving platform and the planar limbs are derived. Third, the formulae for solving the inertial wrench applied on the planar limbs and the moving platform are derived, and dynamics formula is derived for solving dynamic active forces applied onto the planar limbs. Fourth, a singularity of the proposed parallel manipulator is determined and analyzed. Fifth, an analytic example is given for solving the kinetostatics and dynamics of the proposed parallel manipulator, and the solved results are analyzed and verified by the simulation mechanism. Finally, a workspace is constructed and analyzed by comparing with an existing 6-DoF parallel manipulator. © 2014 Taylor and Francis.


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Zhang C.,Hebei University | Cao C.,Yanshan University | And 2 more authors.
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science | Year: 2016

A novel hybrid manipulator is proposed and its kinematics and dynamics are analyzed systematically. First, a 3D prototype of the hybrid manipulator is constructed and analyzed. It is composed of a 5-DoF parallel manipulator with two equivalent composite universal joints and three fingers. Second, the kinematics formulae are established for solving the displacement, velocity and acceleration of the parallel manipulator and the finger mechanisms. Third, the dynamics formulae are derived for solving the dynamic active and constrained forces of the parallel manipulator and the finger mechanisms. Finally, a numerical example is given for solving the kinematics and the dynamics of the hybrid manipulator and the analytic solved results are verified by the simulation mechanism. © 2016 Institution of Mechanical Engineers.


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Ye N.,Yanshan University | Wang P.,Yanshan University
Journal of Mechanical Science and Technology | Year: 2016

A dynamics of a 3-leg 6-DoF parallel manipulator with multi different-DoF fingers is studied systematically. First, the unified kinematics formulae of the parallel manipulator with multi different-DoF fingers are established for solving the velocity/acceleration of the moving links of parallel manipulator and finger mechanisms and the Jacobian/Hessian matrices. Second, their unified dynamics formulae are established for solving the dynamic input wrench of the parallel manipulator and the finger mechanisms. Third, the special kinematics/ dynamics formulae of a novel 6-DoF 3-UPS type parallel manipulator with three one-DoF finger mechanisms are derived for illustrating application of dynamics formulae. Finally, its analytic solutions are analyzed and verified by the simulation solutions. © 2016, The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg.


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Chen L.,Yanshan University | Wang P.,Yanshan University | And 3 more authors.
Mechanism and Machine Theory | Year: 2013

A statics and stiffness model of a novel six-component force/torque sensor with a 3-RPPS compliant parallel structure is established and analyzed based on a 3-RPS parallel mechanism. First, the basic principle of the developed sensor is explained and a static model of the 3-RPS parallel mechanism is established. Second, a stiffness model of the RPPS-type compliant limb is derived, and the stiffness of the single standard force sensor is determined by measuring the forces of the standard force sensor under given workloads. Third, the statics model among the forces of the standard force sensors and the external load are established, and the forces of the six standard force sensors are measured under given external load. Fourth, a finite element (FE) model of the proposed sensor is established, the forces applied on standard sensor are solved. Finally, the analytical solutions of the stiffness model and statics model of the developed sensor are obtained and verified by its FE model solutions and experimental solutions. © 2012 Elsevier Ltd.

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