Shenyan Institute of Automation

Liaoning, China

Shenyan Institute of Automation

Liaoning, China
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Lu Y.,Yanshan University | Yu J.,Hebei Normal University of Science and Technology | Sui C.,Shenyan Institute of Automation | Han J.,Shenyan Institute of Automation
2015 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015 | Year: 2015

An in-pipe robot must be able to adapt to the various geometric changes of pipes and have large enough load carrying capacity in order to move freely in industry pipe and drag heavy load. A novel in-pipe 3SPR/3RPS type parallel manipulator is proposed and its kinematics is analyzed in this paper. First, an in-pipe parallel manipulator with multi-foot is designed, and its principle and characteristics are explained. Second, the kinematics formulae are derived for solving the displacement, velocity and acceleration of foot mechanism and parallel manipulator. Third, the statics formulae are derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator. Finally, an analytic example is given for solving kinematics and statics of the in-pipe parallel manipulator and analytic solutions are verified by simulation solution. © 2015 IEEE.


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 | Wang P.,Yanshan University | Hou Z.,Yanshan University | Bo H.,Yanshan University | And 2 more authors.
International Journal of Robotics and Automation | Year: 2014

A kinetostatic model and a dynamics model of a parallel manipulator (PM) with three grippers are established and analyzed in the light of its application. First, the coordinative kinematics of this manipulator and three grippers are analyzed. Second, the kinetostatic formulae are derived for transforming the coordinative kinematics and forces applied on the grippers into the workloads applied on the moving platform and the active/constrained forces and torques applied onto active legs. Third, the dynamics formulae are derived for solving dynamic active wrench of grippers and PM by considering inertial mass of the grippers, legs and platform. Finally, a numerical example is given for illustrating application of kinetostatic model and dynamics formulae, and the dynamics solutions of this manipulator are verified by simulation.


Lu Y.,Yanshan University | Lu Y.,CERI Yingkou Equipment Development and Manufacturing Co. | Ye N.,CERI Yingkou Equipment Development and Manufacturing Co. | Mao B.,Yanshan University | And 2 more authors.
Journal of Mechanical Science and Technology | Year: 2012

It has been a significant and challenging issue to derive the complex valid contracted graphs (CGs) with hexagonal links plus other links and identify their isomorphism for creating novel closed mechanisms. This paper focuses on the derivation of the valid CGs with hexagonal links plus other links using the characteristic strings (CSs). First, the concepts on the CGs and CSs are explained, and the numbers of vertices and edges in the CGs are solved. Second, the relative criterion are determined for representing/deriving CGs and identifying isomorphic/invalid CGs by CSs. Third, some simple CGs are derived from some associated linkages with hexagonal links plus more other links, are represented by CSs, and the isomorphic/invalid CGs are identified using the CSs and the isomorphic queues of the links. Fourth, some examples are given for illustrating their applications. Finally, many complex valid CGs with more hexagonal links plus other links are represented and derived using CSs, and their isomorphism are identified using CSs. © 2012 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 | 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.,CERI Yingkou Equipment Development and Manufacturing Co. | Ye N.,CERI Yingkou Equipment Development and Manufacturing Co. | Mao B.,Yanshan University | And 2 more authors.
Mechanism and Machine Theory | Year: 2012

Contracted graph (CG) is a basic and effective tool for deriving topology graphs which are widely used for type synthesis of closed mechanisms. This paper focuses on the derivation of valid CGs from simpler CGs by adding edge and the identification of their isomorphism. First, the concepts of CGs are explained, and the numbers of vertices and edges in CGs are determined. Second, many different CGs are constructed from associated linkages. Based on the numbers of different edges, many CGs corresponding to the same associated linkage are grouped and the isomorphic/invalid CGs are identified and deleted. Third, many complex valid CGs are derived from simpler valid CGs or virtual CGs by adding edge. Finally, two application examples of the CGs are illustrated for type synthesis of closed mechanisms. © 2012 Elsevier Ltd. All rights reserved.

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