Xingyu Yang

Aarhus University | AU · Department of Engineering

Collaborative robots have promising potential for widespread use in small-and-medium-sized enterprise (SME) manufacturing and production due to the development of increasingly sophisticated Human-Robot Collaboration technologies. However, predicting and identifying the behavior of collaborative robots remains a challenging problem due to the signif...

Collaborative robots are increasingly being used in dynamic and semi-structured environments because of their ability to perform physical Human-Robot Interaction (pHRI) to ensure safety. Therefore, it is crucial to model the dynamics of collaborative robots during pHRI to gain valuable insights into the system's behavior when in contact with humans...

The features of collaborative robots (cobots), like lightweight, easy programming, and flexibility, meet the production automation requirements in SMEs. However, SME productions are usually in semi-structured or cluttered environments, which raises major challenges in implementing cobot systems in SME production, for instance, increasing the visual...

Dynamic modeling and analysis of a collaborative industrial mobile manipulator provide essential foundation and guidance for controlling it to achieve the desired physical interaction. However, it is a well-recognized challenge to precisely model the dynamics of a collaborative mobile manipulator due to its high-DOF (degree of freedom) structure, n...

To achieve real-time dynamic simulation analysis and optimization design, a dynamic digital twin for a nonholonomic mobile manipulator (one UR5e mounted on an industrial mobile robot MIR 200) has been developed in this paper. First, the digital twin integrated with dynamics for a mobile manipulator is established. The framework of the dynamic digit...

This paper presents a novel robot arm that is capable of switching between a rigid robot arm and a continuum robot arm. Therefore, the novel robot arm can perform adaptive physical interaction and manipulation against complex working environments and tasks. The switch-ability of the robot arm is achieved with two types of joints: knee-like flexible...

Collaborative robots are gradually taking over the leading position in automating the production and manufacturing of the SMEs, where the human-robot collaboration is highly emphasized. Therefore, estimating the force and simulating the performance of robots are of great importance. As a newly introduced technology, digital twin, has gained more at...

As the representation for the effects of contact and bending elasticity gear tooth, variational mesh stiffness is an important source of excitation for gear vibration. Aiming to get the numerical method of calculating mesh stiffness of the irregular taperred tooth profile, an efficient slice-based mesh stiffness modeling method is introduced for st...

Considering the asymmetrical left and right tooth profiles including the transient curve at the tooth root region and the varying thickness along the axial direction due to the cone angle, we build the accurate profile curve model including the transient curve at the tooth root of helical beveloid gear with machining parameters to solve the problem...

Hypoloid gear, hypoid gear with small cone angle and large pitch cone distance, can be directed at the transmission with small shaft angle. The manufacturing process has more freedoms of motion to control the tooth surface and ensure higher mesh performance. However, it is difficult to adjust the machine settings due to the extreme geometry. This p...

On this research, the effects of the three different types of blade sections including linear, circular and polynomial on mesh characteristics for face-hobbed hypoid gears are investigated. Firstly, with the equations of three blade sections and the transformation matrixes based on the processing method derived, the mathematical model of gear flank...

This paper proposed the accurate mathematical model considering work holding equipment errors based on the three-face cutter differing from typical commercial software. The simulated flow included manufacturing issues from industry applications have been established. Quasi-static loaded tooth contact analysis was used to discuss the contact charact...

Taking the NW planetary gear transmission of an electric wheel hub as the research object, the mesh model was developed to calculate the mesh parameters using Masta. Then the lump parameter method was used to establish the dynamic model of the NW planetary transmission system considering the time-varying mesh stiffness, transmission error and beari...

Considering the system deformation, a procedure to predict the mesh behaviors for face-hobbed hypoid gear pair in car rear axle was proposed based on the tooth surface model and the finite element analysis (FEA) tooth contact model. The mathematical model of face-hobbed hypoid gear was derived based on the manufacturing process. The systematic mode...

In this paper, a potential energy based slice grouping method was proposed to calculate the mesh stiffness for straight beveloid gears with parallel axes. The mathematical mesh stiffness model was derived. The finite element tooth contact model was developed and the loaded tooth contact analysis was conducted to calculate the mesh stiffness. The ve...

The mathematical beveloid gear tooth surface model considering machine tool adjustment errors was derived. The definition and calculation process of tooth surface deviations along the tooth trace and profile directions for beveloid gear were proposed. Also, the solid model and the finite element mesh model of a paralleled beveloid gear pair were de...