Yanbin Yao

Fujian Agriculture and Forestry University

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Field

Dynamic Modeling Method of Multibody System of 6-DOF Robot Based on Screw Theory

Machines (2022)

Jun Cheng Shusheng Bi Yuan Chang Yueri Cai Yanbin Yao

An accurate dynamic model is a prerequisite for realizing precise control of industrial robots. The dynamics research of multi-degree of freedom (DOF) robots is relatively unexplored and needs to be solved urgently. In this paper, a dynamic modeling method of multibody system of 6-DOF robot is proposed based on the screw theory. The established dynamic model has a more concise and unified mathematical form, and the modular matrix expression is convenient for the control of the robot. In order to ensure that the screw method is suitable for motion in a wide range of angles, quaternions are used as generalized angular coordinates, and the model established thereby eliminates singularities and improves computational efficiency. The correctness and accuracy of the screw method is verified by the simulation example, and the modeling theory and method can provide a theoretical basis for the precise control of the robot.

Screw theory

Multibody system

Industrial robot

10.3390/machines10070499

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Citations (9)

Design and Experiment of a Robot Automatic Drilling System

SAE technical papers on CD-ROM/SAE technical paper series (2014)

Yanbin Yao

10.4271/2014-01-2246

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Citations (8)

Kinetostatics of a Snake Robot with Redundant Degrees of Freedom

Machines (2024)

Dong-Jie Zhao Han-Lin Sun Zhaocai Du Yanbin Yao Jing‐Shan Zhao

This paper proposes a kinetostatic approach for analyzing the joint torques of a redundant snake robot. The method is suitable for weightless space environments. With the high degree of freedom and flexible cable actuation, the redundant snake robot is well-suited for utilization in space-weightless environments. This method reduces computational cost by using the multiplication of matrices and vectors instead of inverse matrices. Taking advantage of the velocity screw (twist) and force screw (wrench), this strategy provides an idea for redundant serial robots to achieve the calculation of joint torques. This methodology is straightforward for programming and has good computational efficiency. The instantaneous work performed by the actuation is expressed with the force screw. According to the principle of virtual work, the kinetostatic equation of the robot can be obtained and the torque required for each joint can be determined. Meanwhile, to solve the inertia force generated by joint acceleration, D’Alembert’s principle is adopted to transform the dynamic problem into a static problem. Through kinetostatic analysis of a redundant snake robot, this paper shows the approach of establishing the kinetostatic model to calculate the torque in screw form. At the same time, the actuation distribution of the redundant snake robot is also cracked effectively for practical purposes. Due to the difficulty of achieving weightless space environments, this paper validates the method by using ADAMS simulation without gravity in the simulation.

10.3390/machines12080526

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Citations (0)

Analytical Modeling and Analysis of an Annulus-Shaped Flexural Pivot

Yanbin Yao Shusheng Bi Hongzhe Zhao

Annulus-shaped flexural pivots (ASFP), composed of three or more identical leaves that are symmetrically arrayed in an annulus, can be used widely in compliant mechanisms for their excellent performances. This paper proposes the accurate load-rotation models of ASFP with three straight leaves, which include the load cases of bending moment combined with horizontal force and vertical force. Firstly, the load-rotation models of ASFP are derived based on the Beam Constraint Model (BCM). Then, the rotational stiffness and buckling characteristics are analyzed based on the derived models. Finally, the accuracy of the models is validated by the finite element analysis (FEA). The relative error of the load-rotation models is within 7% for various load cases even if the rotational angle reaches 0.07 (4°). The results show that the models are accurate enough to be used for initial parametric designing of ASFP.

Annulus (botany)

10.1115/detc2012-70592

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A Graph Theory-Based Method for Dynamic Modeling and Parameter Identification of 6-DOF Industrial Robots

Applied Sciences (2021)

Jun Cheng Shusheng Bi Yuan Chang Lin Chen Yueri Cai

At present, the absolute positioning accuracy and control accuracy of industrial serial robots need to be improved to meet the accuracy requirements of precision manufacturing and precise control. An accurate dynamic model is an important theoretical basis for solving this problem, and precise dynamic parameters are the prerequisite for precise control. The research of dynamics and parameter identification can greatly promote the application of robots in the field of precision manufacturing and automation. In this paper, we study the dynamical modeling and dynamic parameter identification of an industrial robot system with six rotational DOF (6R robot system) and propose a new method for identifying dynamic parameters. Our aim is to provide an accurate mathematical description of the dynamics of the 6R robot and to accurately identify its dynamic parameters. First, we establish an unconstrained dynamic model for the 6R robot system and rewrite it to obtain the dynamic parameter identification model. Second, we establish the constraint equations of the 6R robot system. Finally, we establish the dynamic model of the constrained 6R robot system. Through the ADAMS simulation experiment, we verify the correctness and accuracy of the dynamic model. The experiments prove that the result of parameter identification has extremely high accuracy and the dynamic model can accurately describe the 6R robot system mathematically. The dynamic modeling method proposed in this paper can be used as the theoretical basis for the study of 6R robot system dynamics and the study of dynamics-based control theory.

Identification

Basis (linear algebra)

Industrial robot

10.3390/app112210988

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Citations (6)

Notes on species of Talaus Simon, 1886 (Araneae, Thomisidae) from China, with descriptions of two new species

ZooKeys (2024)

Cong-zheng Li Yanbin Yao Yong‐Hong Xiao Xiang Xu Keke Liu

Taxonomic notes on the Talaus species from China are provided. Two new species, T. yuyang Yao & Liu, sp. nov. and T. zhangjiangkou Yao & Liu, sp. nov. are described and illustrated, and a further three species are redescribed based on their genitalic characters: T. dulongjiang Tang, Yin, Ubick & Peng, 2008, T. niger Tang, Yin, Ubick & Peng, 2008, and T. sulcus Tang & Li, 2010. The species T. xiphosus Zhu & Ono, 2007 is considered a junior synonym of T. triangulifer Simon, 1886 based on an examination of many recently collected female and male specimens from Guangxi Province, China. Diagnoses, detailed illustrations and a map of distributional records of the six treated species of Talaus in China are provided.

Thomisidae

Synonym (taxonomy)

10.3897/zookeys.1190.111583

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Citations (0)

Modeling of cross-spring pivots subjected to generalized planar loads

Chinese Journal of Mechanical Engineering (2012)

Shusheng Bi Yanbin Yao Shanshan Zhao Jingjun Yu

10.3901/cjme.2012.06.1075

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Citations (6)

A new species of Lysiteles Simon, 1895 (Araneae, Thomisidae) from South China

Biodiversity Data Journal (2022)

Wenhui Li Congzheng Li Yanbin Yao Keke Liu Xuqing Liao

Simon, 1895 is one of the largest taxa with small body size among the Thomisidae and is mainly distributed in East, South and Southeast Asia. Most of them are recorded from southern provinces of China, such as Jiangxi Province, including three species. However, all of them are only discovered from Jinggang Mountain National Nature Reserve in Jiangxi Province. But there are still other species remaining unknown which need to be surveyed from other areas in this Province.

Thomisidae

National nature reserve

10.3897/bdj.10.e95981

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Citations (52)

A Review on Kinematic, Workspace, Trajectory Planning and Path Planning of Hyper-Redundant manipulators

Zhaocai Du Guangyao Ouyang Junmin Xue Yanbin Yao

With high flexibility and maneuverability, Hyper-redundant manipulators can work in a narrow space, and have great application potential in the complex space of aerospace, aviation and nuclear power equipment. This paper summarizes the definition, type, kinematics method, workspace calculation method, trajectory planning and obstacle avoidance path planning algorithm of Hyper-redundant manipulators. The purpose of this paper is to build a bridge between academic researchers and the current situation of Hyper-redundant manipulators, and enumerate the main algorithms of kinematics solution, workspace calculation, trajectory planning and obstacle avoidance path planning of ultra redundant robots in the past decade. Finally, the technical problems and future work of Hyper-redundant manipulator are discussed.

Work space

Obstacle avoidance

10.1109/cyber50695.2020.9279171

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Citations (17)

A survey of tube spiders (Araneae, Anyphaenidae) from Jinggangshan National Nature Reserve, Jiangxi Province, China

Biodiversity Data Journal (2024)

Zhongjing Wang Ziying Tang Yanbin Yao Shihui Huang Keke Liu

Although there have been many recent taxonomic revisions and large-scale faunistic surveys focusing on spiders from Jiangxi Province, many taxa still remain unknown, such as the Anyphaenidae spiders. Therefore, none of the anyphaenid species has been recorded from this Province.

National nature reserve

10.3897/bdj.12.e133875

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Citations (0)