Individuals with hemiplegia suffer from impaired arm movements that appear as a marked change in arm stiffness. A quantitative measure of arm stiffness would characterize rehabilitation therapy effectively, while litt...Individuals with hemiplegia suffer from impaired arm movements that appear as a marked change in arm stiffness. A quantitative measure of arm stiffness would characterize rehabilitation therapy effectively, while little mechanism is designed to implement the function. A symmetrical five-bar linkage consisting of two revolute joints and three prismatic joints is presented. Inverse kinematics and forward kinematics are obtained first. Then inverse singularities and direct singularities of the mechanism are gained. The global stiffness index is defined based on the results of kinematics analysis. Finally, optimal dimensional synthesis of the mechanism in terms of maximum stiffness is conducted by genetic algorithms. The calculation results show that with the length of both the two linkage a=830 mm, the interacting angle of the two guides 2δ=4.48 radian, and the maximum range of displacement of the two carriers dmax=940 mm, the mechanism achieves highest rigidity and its workspace is singularity-free, which covers the human left and right arm range of motion. The proposed novel mechanism featuring high rigidity and a singularity-free workspace can provide rehabilitation training, also solve the problem of quantitative measure of arm stiffness.展开更多
COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based t...COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlonnmic constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT without the cooperation of operator.展开更多
The concept of virtual slider crank mechanism is proposed and decoupled to obtain parameters of controllable five bar mechanism without any principle error for any given trajectory. The model is simple and easy to sol...The concept of virtual slider crank mechanism is proposed and decoupled to obtain parameters of controllable five bar mechanism without any principle error for any given trajectory. The model is simple and easy to solve. This method has no convergence,flexible workspace and singularity of the mechanism problem. Through this method,we don’ t need any curve to fit the trajectory point. Using MATLAB program to calculate,the computation time can be reduced to less than 3% of the original. Finally,an example is given to illustrate the method which is meanwhile compared with the traditional five bar design method.展开更多
A novel seedling transplanting mechanism with planetary five-bar was developed in order to solve some problems when transplanting seedlings on mulch film,such as a large cave diameter,a low proportion of upright seedl...A novel seedling transplanting mechanism with planetary five-bar was developed in order to solve some problems when transplanting seedlings on mulch film,such as a large cave diameter,a low proportion of upright seedlings,and inconsistent planting depths,which seriously restrict the development of transplanting equipment used in dryland agriculture.The planetary five-bar structure of transplanting mechanism was designed based on analysis of the seedling transplanter on mulch film.The kinematics model of the transplanting mechanism was established and the optimal parameters of the transplanting mechanism were obtained by satisfying the motion trajectory conditions.Subsequently,the virtual prototype of transplanting mechanism was developed,and the simulation of motion trajectory was illustrated.Finally,the physical prototype of the transplanting mechanism was assembled and tested with the high-speed photography.The simulation results indicated that the desired“spindle”trajectory for the duckbill can be obtained,of which the height was 350 mm,and the diameter of the planting cave was 32 mm.The experimental results showed that the diameter of the planting cave was less than 70 mm,the seedling perpendicularity qualification rate reached 96%,the film injury rate was less than 0.5%,and the hanging membrane phenomenon was avoided.Therefore,the proposed transplanting mechanism can meet the requirements for a mulch-film transplanting machine.展开更多
This paper presents the idea of constructing reconfigurable limbs by integrating metamorphic linkages as subchains.The planar five-bar metamorphic linkages that have three phases resulting from locking of motors are c...This paper presents the idea of constructing reconfigurable limbs by integrating metamorphic linkages as subchains.The planar five-bar metamorphic linkages that have three phases resulting from locking of motors are considered.Under the assumption that the constraint exerted by the reconfigurable limb can switch between no constraint,a constraint force,and a constraint couple,the output motions of the metamorphic linkage in its two planar four-bar linkage phases are identified.By adding an appropriate joint to planar four-bar linkages with translational output,four planar five-bar linkages that can be employed in the construction of reconfigurable limbs are enumerated.Serial chains that can provide a constraint couple and a constraint force are synthesized based on screw theory.Reconfigurable limbs that have three configurations associated with the three distinct phases of the metamorphic linkages are assembled with planar five-bar metamorphic linkages and serial chains with four degrees of freedom.A class of reconfigurable parallel mechanisms are constructed by connecting a moving platform and a base with three identical reconfigurable limbs.The degrees of freedom of the reconfigurable parallel mechanism in different configurations with the metamorphic linkages in different phases are given.Finally,the actuation scheme for this kind of mechanisms is addressed.展开更多
Current agronomic improving treatments for soil salinization are faced with challenges of heavy workload,high cost,etc.,which may seriously restrict agricultural productivity and sustainability on a large scale.Aerato...Current agronomic improving treatments for soil salinization are faced with challenges of heavy workload,high cost,etc.,which may seriously restrict agricultural productivity and sustainability on a large scale.Aerator has been applied to loosen soil and enhance soil permeability.In this research,aiming to realize vertically aerating,an aerator with a five-bar aerating mechanism was proposed to improve the aerating performance for saline-alkali land.The five-bar structure of aerating mechanism was designed based on analysis of the aerator on saline-alkali land.The kinematic model was established to describe the aerating process,and the key parameters of the aerating mechanism were obtained by satisfying the motion trajectory conditions.Subsequently,the related parameters were optimized by a simulated annealing method.Furthermore,numerical modeling was simulated to verify the perpendicularity performance after aerating head hitting into the soil.The simulation results indicated that the optimized five-bar aerating mechanism could decrease swinging extreme value by 24%compared with the initial parameters.Finally,the physical prototype of the aerator was tested in the field and performed as expected,producing<7 mm depth tolerances and<3.3°angle tolerances,which met the design requirement.展开更多
基金Supported by National Natural Science Foundation of China(Grant No U1304510)Development Foundation for Outstanding Young Teachers of Zhengzhou University,China(Grant No.1421321076)
文摘Individuals with hemiplegia suffer from impaired arm movements that appear as a marked change in arm stiffness. A quantitative measure of arm stiffness would characterize rehabilitation therapy effectively, while little mechanism is designed to implement the function. A symmetrical five-bar linkage consisting of two revolute joints and three prismatic joints is presented. Inverse kinematics and forward kinematics are obtained first. Then inverse singularities and direct singularities of the mechanism are gained. The global stiffness index is defined based on the results of kinematics analysis. Finally, optimal dimensional synthesis of the mechanism in terms of maximum stiffness is conducted by genetic algorithms. The calculation results show that with the length of both the two linkage a=830 mm, the interacting angle of the two guides 2δ=4.48 radian, and the maximum range of displacement of the two carriers dmax=940 mm, the mechanism achieves highest rigidity and its workspace is singularity-free, which covers the human left and right arm range of motion. The proposed novel mechanism featuring high rigidity and a singularity-free workspace can provide rehabilitation training, also solve the problem of quantitative measure of arm stiffness.
基金the National Natural Science Foundation of China( 60275030) Harbin Science and Technology Bureau(2002AFLXJ004)
文摘COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlonnmic constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT without the cooperation of operator.
基金supported by National Innovation Training Project(201710959044)Anhui Province Quality Engineering Project(2016jyxm0336)Anhui Province Educational Department University Natural Science Research Project(KJ2017A523)
文摘The concept of virtual slider crank mechanism is proposed and decoupled to obtain parameters of controllable five bar mechanism without any principle error for any given trajectory. The model is simple and easy to solve. This method has no convergence,flexible workspace and singularity of the mechanism problem. Through this method,we don’ t need any curve to fit the trajectory point. Using MATLAB program to calculate,the computation time can be reduced to less than 3% of the original. Finally,an example is given to illustrate the method which is meanwhile compared with the traditional five bar design method.
基金the Open Fund of the State Key Laboratory of Mechanical Transmissions(Grant No.SKLMT-KFKT-201516)the National Natural Science Foundation of China(Grant No.51565048)the Chinese Technology Aid Project in Xinjiang(Grant No.2013AB013)。
文摘A novel seedling transplanting mechanism with planetary five-bar was developed in order to solve some problems when transplanting seedlings on mulch film,such as a large cave diameter,a low proportion of upright seedlings,and inconsistent planting depths,which seriously restrict the development of transplanting equipment used in dryland agriculture.The planetary five-bar structure of transplanting mechanism was designed based on analysis of the seedling transplanter on mulch film.The kinematics model of the transplanting mechanism was established and the optimal parameters of the transplanting mechanism were obtained by satisfying the motion trajectory conditions.Subsequently,the virtual prototype of transplanting mechanism was developed,and the simulation of motion trajectory was illustrated.Finally,the physical prototype of the transplanting mechanism was assembled and tested with the high-speed photography.The simulation results indicated that the desired“spindle”trajectory for the duckbill can be obtained,of which the height was 350 mm,and the diameter of the planting cave was 32 mm.The experimental results showed that the diameter of the planting cave was less than 70 mm,the seedling perpendicularity qualification rate reached 96%,the film injury rate was less than 0.5%,and the hanging membrane phenomenon was avoided.Therefore,the proposed transplanting mechanism can meet the requirements for a mulch-film transplanting machine.
基金supported by the National Natural Science Foundation of China(Grant Nos.51075025,51175029)Beijing Natural Science Foundation of China(Grant No.3132019)the Program for New Century Excellent Talents in University of China(Grant No.NCET-12-0769)
文摘This paper presents the idea of constructing reconfigurable limbs by integrating metamorphic linkages as subchains.The planar five-bar metamorphic linkages that have three phases resulting from locking of motors are considered.Under the assumption that the constraint exerted by the reconfigurable limb can switch between no constraint,a constraint force,and a constraint couple,the output motions of the metamorphic linkage in its two planar four-bar linkage phases are identified.By adding an appropriate joint to planar four-bar linkages with translational output,four planar five-bar linkages that can be employed in the construction of reconfigurable limbs are enumerated.Serial chains that can provide a constraint couple and a constraint force are synthesized based on screw theory.Reconfigurable limbs that have three configurations associated with the three distinct phases of the metamorphic linkages are assembled with planar five-bar metamorphic linkages and serial chains with four degrees of freedom.A class of reconfigurable parallel mechanisms are constructed by connecting a moving platform and a base with three identical reconfigurable limbs.The degrees of freedom of the reconfigurable parallel mechanism in different configurations with the metamorphic linkages in different phases are given.Finally,the actuation scheme for this kind of mechanisms is addressed.
基金This work was supported by the Interdisciplinary Project of Yangzhou University Crop Science Special Zone(Grant No.yzuxk202007)the Natural Science Foundation of the Jiangsu Higher Education Institutions(Grant No.20KJB416008)+4 种基金the Key Research and Development Program of Jiangsu Province(Grant No.BE2020319)the Jiangsu Modern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project(Grant No.NJ2020-17)the Program for Innovative Research Team in Ministry of Education of China(Grant No.IRT13039)the Taizhou Science and Technology Infrastructure Program(Grant No.TN201913)and the Nanjing Science and Technology Program(Grant No.201805062).
文摘Current agronomic improving treatments for soil salinization are faced with challenges of heavy workload,high cost,etc.,which may seriously restrict agricultural productivity and sustainability on a large scale.Aerator has been applied to loosen soil and enhance soil permeability.In this research,aiming to realize vertically aerating,an aerator with a five-bar aerating mechanism was proposed to improve the aerating performance for saline-alkali land.The five-bar structure of aerating mechanism was designed based on analysis of the aerator on saline-alkali land.The kinematic model was established to describe the aerating process,and the key parameters of the aerating mechanism were obtained by satisfying the motion trajectory conditions.Subsequently,the related parameters were optimized by a simulated annealing method.Furthermore,numerical modeling was simulated to verify the perpendicularity performance after aerating head hitting into the soil.The simulation results indicated that the optimized five-bar aerating mechanism could decrease swinging extreme value by 24%compared with the initial parameters.Finally,the physical prototype of the aerator was tested in the field and performed as expected,producing<7 mm depth tolerances and<3.3°angle tolerances,which met the design requirement.
