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Seven-bar mechanical press with hybrid-driven mechanism for deep

drawing; Part 2: Dynamic modeling and simulation

Article  in  Journal of Mechanical Science and Technology · November 2010

DOI: 10.1007/s12206-010-0510-5

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 Journal of Mechanical Science and Technology 24 (11) (2010) 2161~2167
www.springerlink.com/content/1738-494x
DOI 10.1007/s12206-010-0510-5

Seven-bar mechanical press with hybrid-driven mechanism for deep drawing;

Part 2: Dynamic modeling and simulation†
Hui Li* and Yuping Zhang
Department of Electromechanical Engineering, Shijiazhuang Institute of Railway Technology, Shijiazhuang 050041, P.R. China

(Manuscript Received April 6, 2009; Revised April 16, 2010; Accepted April 16, 2010)

----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

Abstract

Modeling and dynamic analysis of the electromechanical coupling system of a hybrid-driven mechanical press were undertaken.
A dynamic model of a two-degrees-of-freedom seven-bar linkage was developed using Lagrange’s equation. According to the
equivalent circuit of a DC motor and a brushless servomotor, a dynamic model and negative feed-back model were separately
developed. The fourth-order Runge-Kutta method, an explicit method, was employed as the integration technique in a computer
simulation, and the time history of the hybrid-driven press was obtained.

Keywords: Hybrid-driven mechanism; Press; Dynamics; Computer simulation; Mechatronics; Servomotor

----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

mechanism and the second input, which, being programmable,

1. Introduction
imparts the modulation to that fundamental motion. A dimen-
In traditional mechanical presses, the driving power, as sional synthesis of a hybrid-driven mechanical press suitable
transmitted to the drive shafts through a reducer device, usu- for deep drawing was completed in the present study’s Part 1.
ally is obtained from a constant-speed motor. However, this Also, in Part 1, a method of optimizing the displacement tra-
mechanism, though it can be designed to satisfy high-speed jectory of the servomotor was derived. This hybrid-driven
mass production, generally is considered to be too inflexible to mechanical press has the characteristics of an approximately
meet the challenges posed by frequent changes in either constant working velocity and, accordingly, a quick return.
manufacturing processes or products. Complex mechanistic Thus, by properly optimizing the displacement trajectory of
methods that might provide this versatility sometimes become the servomotor, the output motion of the slider can pass
expensive or are difficult to achieve [1, 2]. Many researchers through the desired trajectories. Thereby, the hybrid-driven
working to solve this dilemma have developed a flexible press, mechanical press is endowed with flexible output motion
which uses a servomotor as the prime mover. However, a characteristics suitable for deep drawing. These characteristics
servomotor’s power capacity usually is limited [3-6]. Recently, also provide the advantages of applicability to materials of
researchers looking for answers have turned to the hybrid- different thicknesses or with plastic deformations.
driven mechanism [7-20]. The main idea in the hybrid-driven In the present, Part 2 study, the dynamics of the hybrid-
concept is to combine the motion of a large constant-velocity driven press, as powered by a DC motor and a brushless ser-
motor with a small servomotor via a two-degrees-of-freedom vomotor, were studied by mathematical modeling and a simu-
mechanism. The constant-velocity motor provides the main lation. Then, dynamic system equations were derived and
power and motion requirement, while the servomotor acts as a solved numerically. The fourth-order Runge-Kutta method, an
low-power motion-modulation device. The hybrid-driven idea explicit method, was chosen as the integration technique in the
was studied initially by Tokuz and Jones [7-10]. In their inves- computer simulation. The simulation results obtained were
tigations, inputs from a constant-speed motor and a servomo- tabulated for a motion profile. In this paper, the simulation
tor were summed in a differential gearbox to produce non- results are presented and discussed.
uniform motion at the output of a linkage. The fundamental
non-uniform motion requirement is derived from a linkage 2. Mathematical model for hybrid-driven mechanical
†
This paper was recommended for publication in revised form by Associate Editor press system
Hong Hee Yoo
*
Corresponding author. Tel.: +86 311 88621089, Fax: +86 311 88621073 2.1 Mathematical model for seven-bar linkage
E-mail address: Huili68@163.com
© KSME & Springer 2010 A mathematical model for a seven-bar mechanism was de-
2162 H. Li and Y. Zhang / Journal of Mechanical Science and Technology 24 (11) (2010) 2161~2167

L S1 where φi represents the angular displacement of link i .

A Md1
Y By substituting Eqs. (3) and (4) into Eq. (1),
S1
B
L5 L1
E φ1 L2
θ L S2 1 1
E= J11q12 + J12 q1q 2 + J 22 q 22 (5)

L S4
Md4 S L 4
4
L S3 φ2 S2
2 2
S3
φ4 D C

φ3
L3 where J11 ´, J12 ´, J 22 are the equivalent moments of inertia
of the two-DOF seven-bar mechanism. These relationships are
S0

L S6
S6 further elucidated in the Appendix.
L6 The potential energy of the mechanism can be expressed as
F
G
φ6
V = −m1gxS1 − m2 gxS 2 − m3 gxS 3 − m4 gxS 4 − m6 gxS 6 − m7 g (S0 − S )
(6)
S

e Q

X where mi represents the mass of link i , g the gravity con-

Fig. 1. Schematic representation of hybrid-driven press. stant, xSi the location of the centers of mass of link i in axis
x , and S the displacement of the slider.
veloped using Lagrange’s formulation. The system’s equation According to the principle of virtual work, the generalized
of motion was derived with expressions for the system energy torque Qk can be given as
function and its partial and time derivatives with respect to the
defined generalized coordinates. The mechanism operates in ⎡ ∂S ⎤
M d1 + Q
the vertical plane, accounting for the effects of gravity. Ideal ⎡Q1 ⎤ ⎢⎢ ∂q1 ⎥
⎥
running conditions were assumed for modeling and computa- ⎢ ⎥=⎢ (7)
⎣Q2 ⎦ ∂S ⎥
tional convenience. Motor loss effects were not included in the ⎢M d 4 + Q ⎥
⎣ ∂q2 ⎦
formulations.
Fig. 1 represents a hybrid-driven seven-bar mechanism, Si where M d 1 is the external input torque on the crank L1 ,
denoting the center of mass of the i th link. The location of M d 4 is the external input torque on the crank L4 , and Q is
the center of mass of the i th link is indicated by LSi . Using the forming force of the slider.
the input angles φ1 and φ4 as the generalized coordinates Differentiating Eqs. (5) and (6) and substituting them into Eq.
describing the motion of the two-degrees-of-freedom (two- (1) yields
DOF) seven-bar mechanism ( q1 = φ1 , q2 = φ4 ), Lagrange’s
equation can be given as ⎡ 1 ∂J11 2 ∂J11 ⎛ ∂J 1 ∂J22 ⎞ 2 ∂V ⎤
⎢J11 q1 + J12 q2 + q1 + q1q2 + ⎜ 12 − ⎟q2 + ⎥
⎡Q1 ⎤ ⎢ 2 ∂q1 ∂q2 ⎝ ∂q2 2 ∂q1 ⎠ ∂q1 ⎥
d ∂E ∂E ∂V
( )− + = Qk (k = 1, 2) (1) ⎢ ⎥ =⎢ ⎥.
dt ∂q k ∂qk ∂qk ⎣Q2 ⎦ ⎢ ⎛ ∂J12 1 ∂J11 ⎞ 2 ∂J12 1 ∂J22 2 ∂V ⎥

J q +J q +  − 
q +  
qq + 
q +
⎢⎣ 22 2 12 1 ⎝⎜ ∂q1 2 ∂q2 ⎟⎠ 1 ∂q1 1 2 2 ∂q2 2 ∂q2 ⎥⎦
where E is the kinetic energy, V is the potential energy, (8)
Qk is the generalized torque on link 1 and link 4, and qk is
the generalized coordinate. This is a second-order, nonlinear differential equation sys-
The kinetic energy can be expressed as tem representing the mechanism motion by generalized coor-
7 dinates q1 and q2 . The intermediate derivation steps and the
∑ ⎡⎢⎣ 2 m ( x
1 1 2 ⎤
E= i
2
Si + y Si2 + ) 2
J iφi ⎥
⎦
(2) derivate terms can be found in [20].
i =1 Eq. (8), the coupled equations, can be transformed into
i ≠5

where φi is the angular velocity of link i , and x Si and y Si ⎧⎪ q1 = A0 + A11q12 + A12 q1q 2 + A22 q 22
⎨ (9)
are the x and y velocity components of its center of mass. 2
⎪⎩q2 = B0 + B11q1 + B12 q1q 2 + B22 q 2
2

Then, φi , x Si and y Si can be written as

where A0 , B0 , A11 , B11 , A12 , B12 , A22 , B22 are the coefficients
∂φ ∂φ
φi = i q1 + i q 2 (3) of the second-order differential equation. These coefficients
∂q1 ∂q2 are given in the Appendix.
⎧ ∂xSi ∂xSi
⎪ x Si = ∂q q1 + ∂q q 2 2.2 Mathematical model for DC motors
⎪ 1 2
⎨ (4)
⎪ y = ∂y Si ∂y Si Fig. 2 shows a DC motor, including a geared speed-reducer
q + q
⎪⎩ Si ∂q1 1 ∂q2 2 having a gear ratio of
 H. Li and Y. Zhang / Journal of Mechanical Science and Technology 24 (11) (2010) 2161~2167 2163

Rk L mk where ktk is the motor torque constant and kek is the motor
+ Bk
voltage constant. Observing that
ik TLk Tmk
ωak = nk ωbk = nk q k , (16)
Uk ek J hk ak

Tmk substituting Eqs. (14), (15) and (16) into Eqs. (12) and (13),
-
we find
bk
Tbk
dik U k − Rk ik − nk kek q k
= (17)
dt Lmk
Fig. 2. Schematic representation of DC motor. Tbk = nk ktk ik − nk TLk − nk2 Bk q k − nk2 J hk qk , (18)

Tbk ωak
nk = = ( k = 1 ,2）
Tak ωbk
where ωak is the angular velocity of the input shaft ak , and
ωbk is the angular velocity of output shaft bk . In Fig. 2, the
input to the motor-gear system is voltage U k , and the output
of the system is the torque Tbk , which, as defined in Eq. (7), is
equal to M dk . Rk , Lk , and ik are the armature resistance,
inductance and current, respectively. The shaft bk is con-
nected so as to drive the crank L1 and crank L4 of the
mechanism, respectively. Bk is a damping coefficient due to
a possible viscous bearing friction, TLk is a constant mechani-
cal load, due to either brush friction, gear friction or dry bear-
ing friction. J hk is the combined moment of inertia of the
motor rotor , the speed reducer, and the flywheel. Since two
different DC motor types were studied, the same motor equa-
Eqs. (17) and (18) being the mathematical models of the mo-
(10)
tor dynamics.
PID controllers are commonly used in many industrial proc-
esses. Their popularity is attributed partly to their performance
in a wide range of operational conditions, and partly to their
functional simplicity. Indeed, they can be operated by engi-
neers in a simple and straight-forward manner. PID controllers
utilize a control signal involving positional, velocity error and
integral of position error functions. Here, the objective was to
establish a PID control algorithm in order to determine how it
can improve the transient and steady-state responses of the
electromechanical system.
When the motor is controlled by the PID position closed
loop, the voltage U i can be given as
t

tions were used, and different motor data were utilized. Here,
U k = k pk (qkic − qk ) + kdk (q kic − q k ) + k Ik
∫ 0
(qKc − qk )dt (19)
k is equal to 1 for a DC motor and 2 for a brushless servomo-
tor, respectively, throughout the work. J hk can be given as where k pk is the proportional gain constant, kdk is the de-
rivative gain constant, and k Ik is the integral gain constant.
J hk = J mk + J Rk + J fk (11) qkc and q kc are the ideal angular displacement and ideal
angular velocity of the crank Lk , respectively, and qk and
where J mk is the moment of inertia of the motor rotor, J Rk q k are the actual angular displacement and actual angular
is the equivalent moment of inertia of the speed reducer, and velocity of the crank Lk , respectively.
J fk is the moment of inertia of the flywheel. Substituting Eq. (19) into Eq. (17) ,
From Kirchhoff’s voltage law,
⎛ t ⎞
U k = Rk ik + Lmk
dii
dt
+ ek (12) dik ⎝
=
∫
⎜⎜ k pk (qkc − qk ) + kdk (qkc − qk ) + kIk (qkic − qk )dt ⎟⎟ − Rkik − nk kek qk
0 ⎠
dt Lmk
(k = 1, 2) .
where ek is the generated electromotive force of the motor.
Using a Newtonian equation for the mechanical load, we have (20)

dωak Eq. (20) is the PID control model of the servo motor dynamics.
Tbk = nk (Tmk − TLk − Bk ωak − J hk ) (13)
dt The proportional gain constant k pk , the derivative gain con-
stant kdk and the integral gain constant k Ik were optimized by
where Tmk is the magnetic motor torque, and nk is the gear running the simulation software with real mechanism parame-
ratio defined by Eq. (10). The magnetic torque and the gener- ters and motor data [17].
ated electromotive force are given as
2.3 Mathematical model for electromechanical press system
Tmk = ktk ik (14)
ek = kek ωak (15) Combining Eqs. (9) and (20) gives
2164 H. Li and Y. Zhang / Journal of Mechanical Science and Technology 24 (11) (2010) 2161~2167

⎧ Table 1. DC motor parameters.

⎪ q1 = A0 + A11q12 + A12 q1q 2 + A22 q 22
⎪
⎪ DC motor model Z4－180－21
⎪ q2 = B0 + B11 q12 + B12 q1q 2 + B22 q 22
⎪ Rated power Pe 18.5 KW
⎛ t ⎞
∫
⎪
⎪ ⎜ k p1 (q1c − q1 ) + kd1 (q1c − q1 ) + k I 1 (q1c − q1 )dt ⎟ − R1i1 − n1ke1q1 . Rated voltage U e 440 V
⎨ di ⎜⎝ 0
⎟
⎠
1 =
⎪
⎪ dt Lm1 Rated current I e 52 A
⎪
⎛ t ⎞ Rated speed/maximum speed ne / nmax 600/1600 r/min
∫
⎪
⎪ ⎜ k p 2 (q2c − q2 ) + kd 2 (q 2c − q 2 ) + k I 2 (q2c − q2 )dt ⎟ − R2i2 − n2 ke 2 q 2
di ⎜ ⎟ Moment of inertia GD 2 1.72 kg.m2
⎪ 2 = ⎝ 0 ⎠
⎪ dt Lm 2
⎩ Winding resistance R1 0.973 Ω
(21) Winding inductance Lm1 19.9 ×10
−3
H
Motor voltage constant k e1 6.2 V/rad/s
Let
Motor torque constant kt1 5.6627 Nm/A

x1 = q1 , x2 = q2 , x3 = q1 , x4 = q 2 , x5 = i1 , x6 = i2 , Efficiency η 83.7%

Table 2. DC servo motor parameters.

then Eq. (21) can be transformed into the system of first-order
equations Rated power Pe 3 KW
Maximum operating speed nmax 3000 r/min
⎧ x1 = x3
⎪ Rotor moment of inertia J m 2 6.8 ×10−4 kg.m2
⎪ x 2 = x4
⎪ Winding resistance R2 0.8Ω
⎪ x3 = A0 + A11x32 + A12 x3 x4 + A22 x42
⎪ Winding inductance Lm 2 5.8 ×10−3 H
⎪
⎪ x 4 = B0 + B11 x32 + B12 x3 x4 + B22 x42 Motor voltage constant k e 2 0.8598 V/rad/s
⎪⎪ .
⎛ t ⎞ Motor torque constant kt 2 0.76 Nm/A
∫
⎨
⎪ ⎜ k p1 (φ1c − x1 ) + kd 1 (φ1c − x3 ) + k I 1 (φ1c − x1 )dt ⎟ − R1x5 − n1ke1x3
⎜ ⎟
⎪  ⎝ 0 ⎠ Continuous stall torque Te 10.2 Nm
⎪ x5 = Lm1
⎪ Peak torque Tp 19.7 Nm
⎪ ⎛ t ⎞
⎪
⎪ ⎜
⎪ x6 = ⎝
∫
⎜ k p 2 (φ4c − x2 ) + kd 2 (φ4c − x4 ) + k I 1
0
(φ4c − x2 )dt ⎟ − R2 x6 − n2 ke 2 x4
⎟
⎠
⎪⎩ Lm 2

(22)

3. Simulation results and discussion

The dynamic behavior of this system was studied using
numerical methods. The fourth-order Runge-Kutta method, an
explicit method, was chosen as the integration technique; in
fact, this is the commonly employed method for integration of
a system of nonlinear equations. The motor current, the
angular displacement and the angular velocity of the crank are
treated as unknowns, and the time response of the motor-
mechanism system is obtained by integrating the system of
first-order equations through time.
The initial constant for the variables in Eq. (22) is zero. The
motor and mechanism parameters of the hybrid-driven press
are given in Table 1, Table 2 and Table 3. The gear ratios n1
and n2 defined in Eq. (10) are 75 and 60, respectively. The
equivalent moment of inertia J R1 + J f 1 defined in Eq. (11) is
equal to 50kgm2 . The proportional gain constant and deri-
vative gain constant are obtained by using optimization [20].
The optimum results were found to be [k p1, k d1 , k I 1]T =
[141.19,3.38,0]T and [ k p 2 , k d 2 , k I 2 ]T = [122.16, 2.68,0]T , res-
pectively. The motion cycle was 7.5 seconds and the
simulation time was two motion cycles. The simulation time
step was 2.083ms. The forming force of the press is given in
Fig. 3. Since zero initial conditions are given for the motor
current, the crank angle displacement and the crank angular
Fig. 3. Nominal capacity.
velocity, transients were observed in the simulation results.
The steady-state is then achieved in one motion cycle. Figs.
4(a), (b) and (c) show the simulation results for the crank L1
(angular displacement, velocity, acceleration). The constant-
speed motor rotates at 600 rpm and crank L1 has 8 rpm at the
end. Figs. 5(a), (b) and (c) show the simulation results for the
crank L4 (angular displacement, velocity, acceleration). Figs.
6(a), (b) and (c) show the simulation results for the slider
(slider displacement, velocity and acceleration). The
observation can be made, from Figs. 4(a), (b) and (c), that the
output velocity, the acceleration response curve of the
constant-speed motor, is regarded as oscillatory. This behavior,
simply, is caused by the initial conditions being given as zero,
along with the effect of the forming force. The tracking
 H. Li and Y. Zhang / Journal of Mechanical Science and Technology 24 (11) (2010) 2161~2167 2165

Table 3. Seven-bar mechanism parameters.

Parameters Link 1 Link 2 Link 3 Link 4 Frame 5 Link 6 Slider 7

Link length Li (mm) 161.089 674.046 673.62 114.166 509.678 1114.569

Radius ri (m) 0.025 0.025 0.025 0.025 0.025 0.025

Mass mi (kg) 2.467 10.32 10.317 1.749 17.07 40

2
Moment of inertia J i ( kg.m ) 0.0213 0.3909 0.3901 0.0076 1.7671

(a) Crank angle φ1 (b) Angular velocity ω1 (c) Angular acceleration ε1

Fig. 4. Simulation results for crank L1 .

(a) Crank angle φ4 (b)Angular velocity ω4 (c) Angular acceleration ε 4

Fig. 5. Simulation results for crank L4 .

(a) Slider displacement (b) Slider velocity (c) Slider acceleration

Fig. 6. Simulation results for slider.

2166 H. Li and Y. Zhang / Journal of Mechanical Science and Technology 24 (11) (2010) 2161~2167

performance for the angular displacement, the velocity of C414/071 (1991)85-92.

crank L4 driven by the servomotor, was very good in the first
cycle. The simulation results for the slider were well
correlated with the reference points.
4. Conclusions
In the present study, a theoretical investigation of a hybrid-
driven press with its dynamics was undertaken, as discussed in
this paper. Dynamic equations for the hybrid-driven press
were derived and solved. The dynamic coupling of the elec-
tromechanical system, a highly non-linear problem, was re-
vealed. Based on control theory, a PID controller of the hy-
brid-driven press was set up. The parameters of the controller
were optimized by running simulation software with real
mechanism parameters and motor data. The simulation was
completed for an idealized system free from real effects. With
these PID controller parameters, the steady-state was achieved
within the first cycle. Better correlations between the simu-
lated results and the given commands were obtained. Thus,
theoretically and by computer simulation, the feasibility of the
hybrid-driven press was verified.
Acknowledgments
The authors are grateful to the National Natural Science
Foundation of China (No. 50775219 and No. 50975185),
Zhejiang Provincial Natural Science Foundation (No.
Y1080040). The authors are also grateful to the editors and
reviewers for their constructive comments.
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Appendix
The kinetic energy E can be expressed as
7 ⎧ ⎡⎛ ∂x ⎞2 ⎛ ∂y ⎞ 2 ⎤ ⎛ ∂ φ j ⎞ ⎪⎫ 2
2

Manufacture, 33 (2) (1993) 193-208.

E = ∑ 12 ⎪⎩⎪⎨ m
j =1
j
⎢ ⎜ Sj ⎟ + ⎜ Sj ⎟ ⎥ + J j ⎜
⎢ ∂ q1 ⎠
⎣⎝ ⎝ ∂ q1 ⎠ ⎦⎥
⎟ ⎬q1 +
⎝ ∂ q1 ⎠ ⎪⎭
[6] S. Yossifon and R. Shivpuri, Optimization of a double j≠5
7 ⎧ ⎡⎛ ∂x ⎞ 2 ⎛ ∂y ⎞ 2 ⎤ ⎞ ⎫
2
knuckle linkage drive with constant mechanical advantage for
∑ 12 ⎨⎩⎪⎪ m
⎛
j
⎢ ⎜ Sj ⎟ + ⎜ Sj ⎟ ⎥ + J j ⎜ ∂ φ i ⎟ ⎬⎪q 22 +
mechanical presses, International Journal of Machine Tools ⎢⎝ ∂q2 ⎠ ⎝ ∂ q 2 ⎠ ⎥ ∂ q
⎝ 2 ⎠ ⎭⎪
j =1 ⎣ ⎦
j≠5
& Manufacture, 33 (2) (1993) 209-222. 7
⎧ ⎛ ∂ φ j ∂ φ j ⎞ ⎪⎫
∑ 12 ⎨⎩⎪⎪ m
⎡ ⎛ ∂ x Sj ∂ x Sj ∂ y Sj ∂ y Sj ⎞ ⎤
[7] L. C. Tokuz and J. R. Jones, Programmable modulation of j ⎢⎜ + ⎟⎥ + J j ⎜ ⎟ ⎬ q1 q 2
⎣⎢ ⎝ ∂ q 1 ∂ q 2 ∂ q 1 ∂ q 2 ⎠⎥ ⎦ ⎝ ∂ q1 ∂ q 2 ⎠ ⎭⎪
motion using hybrid machine, Proceedings of Imeche, j =1
j≠5
 H. Li and Y. Zhang / Journal of Mechanical Science and Technology 24 (11) (2010) 2161~2167 2167

where ⎡1 ∂J ∂J 1 ∂J ⎤ 1
A22 = ⎢ J12 22 − J 22 12 + J 22 22 ⎥
⎣2 ∂q2 ∂q2 2 ∂q1 ⎦ C1
⎧ ⎡⎛ ∂x ⎞ 2 ⎛ ∂y ⎞ 2 ⎤
7
⎛ ∂φ j ⎞ ⎫⎪
2

J11 = ∑
⎪ ⎢
⎨m j ⎜
j =1 ⎪
Sj
⎟ +⎜
Sj
⎥
⎟ + Jj⎜
⎢⎝ ∂q1 ⎠ ⎝ ∂q1 ⎠ ⎥
⎣ ⎦
⎟ ⎬
⎝ ∂q1 ⎠ ⎪⎭
⎡ 1 ∂J ∂J 1 ∂J ⎤ 1
B22 = ⎢ − J12 22 + J12 12 − J11 22 ⎥ .
2 ∂q ∂q 2 ∂q2 ⎦ C1
j ≠5
⎩ ⎣ 1 2

7
⎧ ⎡⎛ ∂xSj ∂xSj ∂ySj ∂ySj ⎞ ⎤ ⎛ ∂φ j ∂φ j ⎞ ⎪⎫
J12 = ∑ ⎪⎨⎩⎪m ⎢⎣⎢⎜⎝ ∂q
j =1
j
1 ∂q2
+ ⎟⎥ + J j ⎜
∂q1 ∂q2 ⎠ ⎦⎥
⎟⎬
⎝ ∂q1 ∂q2 ⎠ ⎭⎪
j ≠5
Hui Li received his B.S. in Mechanical
7 ⎧ ⎡⎛ ∂x ⎞ 2 ⎛ ∂y ⎞ 2 ⎤ ⎛ ∂φi ⎞ ⎫⎪
2
Engineering from the Hebei Polytechnic
J 22 = ∑ ⎪ ⎢
⎨m j ⎜
⎢ ∂q
Sj
⎟ +⎜
∂q
Sj
⎟ ⎥+ Jj⎜
⎥
⎟ ⎬.
⎝ ∂q2 ⎠ ⎭⎪
University, Hebei, China, in 1991. He
j =1
j ≠5
⎩⎪ ⎣⎝ 2 ⎠ ⎝ 2 ⎠ ⎦ received his M.S. in Mechanical
Engineering from the Harbin University
Explicit forms of A0 , B0 , A11 , B11 , A12 , B12 , A22 , B22 are of Science and Technology, Hei-
given as longjiang, China, in 1994. He received
his PhD from the School of Mechanical
A0 = (Q1 J 22 − Q2 J12 ) / C1 Engineering of Tianjin University, Tianjin, China, in 2003. He
B0 = (Q2 J11 − Q1J12 ) / C1 was a postdoctoral researcher at Shijiazhuang Mechanical
Engineering College from August 2003 to September 2005,
C1 = J11 J 22 − J12 2
and at Beijing Jiaotong University from March 2006 to De-
⎡ ∂J 1 ∂J 1 ∂J ⎤ 1 cember 2008. He is currently a professor in Mechanical Engi-
A11 = ⎢ J12 12 − J12 11 − J 22 11 ⎥
⎣ ∂q1 2 ∂q2 2 ∂q1 ⎦ C1 neering at Shijiazhuang Institute of Railway Technology,
⎡ ∂J 1 ∂J 1 ∂J ⎤ 1 China. His research and teaching interests include hybrid-
B11 = ⎢ − J11 12 + J12 11 + J11 11 ⎥ driven mechanisms, kinematics and dynamics of machinery,
⎣ ∂q 1 2 ∂q 1 2 ∂q2 ⎦ C1
mechatronics, CAD/CAPP, signal processing for machine
⎡ ∂J ∂J ⎤ 1 health monitoring, diagnosis and prognosis. He is currently a
A12 = ⎢ J12 22 − J 22 11 ⎥
⎣ ∂q1 ∂q2 ⎦ C1 senior member of the Chinese Society of Mechanical Engi-
⎡ ∂J ∂J ⎤ 1 neering.
B12 = ⎢ J12 11 − J11 22 ⎥
⎣ ∂q 2 ∂q1 ⎦ C1

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