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《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 435-450 doi: 10.1007/s11465-021-0630-x
关键词: 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset
Stiffness of a 3-degree of freedom translational parallel kinematic machine
null
《机械工程前沿(英文)》 2014年 第9卷 第3期 页码 233-241 doi: 10.1007/s11465-014-0312-z
In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machine (PKM) is studied and analyzed whose tool platform has only translations along X-, Y- and Z-axes. It consists of three limbs, each of which have arm and forearm with prismatic-revolute-revolute-revolute (PRRR) joints. Inverse kinematics analysis is carried out to find the slider coordinates and joint angles for a given position of tool platform. Stiffness modeling is done based on the compliance matrices of arm and forearm of each limb. Using the stiffness modeling the variations of minimum and maximum translational stiffness in the workspace are analyzed. For various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum stiffness over the entire workspace is studied; and also the deflections of the tool platform along X, Y, and Z directions with respect to various forces are presented.
关键词: 3-DOF translational PKM inverse kinematics stiffness modeling translational stiffness
《机械工程前沿(英文)》 2021年 第16卷 第4期 页码 698-710 doi: 10.1007/s11465-021-0646-2
关键词: hydraulic manipulator inverse kinematic redundant design spherical wrist
Fugui XIE,Xin-Jun LIU
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 135-143 doi: 10.1007/s11465-016-0389-7
This study introduces a high-speed parallel robot with Schönflies motion. This robot exhibits a promising prospect in realizing high-speed pick-and-place manipulation for packaging production lines. The robot has four identical limbs and a single platform. Its compact structure and single-platform concept provides this robot with good dynamic response potential. A line graph method based on Grassmann line geometry is used to investigate the mobility characteristics of the proposed robot. A generalized Blanding rule is also introduced into this procedure to realize mutual conversion between the line graphs for motions and constraints. Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigated using both qualitative and quantitative approaches. Input and output transmission singularity indices are defined based on the reciprocal product in screw theory and the virtual coefficient by considering motion/force transmission performance. Thereafter, the singular loci of the proposed robot with specific geometric parameters are derived. The mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study are helpful in developing the robot.
关键词: parallel robot mobility inverse kinematics singularity transmission performance
Loop theory and applications to some key problems of kinematic structure of kinematic chains
Huafeng DING, Zhen HUANG
《机械工程前沿(英文)》 2009年 第4卷 第3期 页码 276-283 doi: 10.1007/s11465-009-0061-6
关键词: Loop theory kinematic chains isomorphism atlas database
Structural optimization of typical rigid links in a parallel kinematic machine
Xinjun LIU, Zhidong LI, Xiang CHEN
《机械工程前沿(英文)》 2011年 第6卷 第3期 页码 344-353 doi: 10.1007/s11465-011-0227-x
The motion dynamics and accuracy of parallel kinematic machines largely depend on the weights and rigidity of typical rigid links. Therefore, these parts should be designed in such a way that they are light but rigid. This work employs the techniques of topology and size optimization to design two typical rigid links of a parallel kinematic machine (PKM) and subsequently obtains applicable structures for them. The calculation models are established, and a new algorithm called the Guide-Weight method is introduced to solve topology optimization problems. The commercial software Ansys is used to perform size optimization.
关键词: topology optimization size optimization parallel kinematic machine (PKM)
Performance of inverse fluidized bed bioreactor in treating starch wastewater
M. RAJASIMMAN, C. KARTHIKEYAN
《化学科学与工程前沿(英文)》 2009年 第3卷 第3期 页码 235-239 doi: 10.1007/s11705-009-0020-0
关键词: inverse fluidization low-density particles polypropylene starch biofilm
Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines
Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER
《机械工程前沿(英文)》 2012年 第7卷 第2期 页码 120-134 doi: 10.1007/s11465-012-0321-8
In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i.e., singularity-free, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed.
关键词: parallel robots kinematic redundancy singularity avoidance operational workspace
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
《机械工程前沿(英文)》 2014年 第9卷 第2期 页码 120-129 doi: 10.1007/s11465-014-0300-3
In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel Kinematic Machine is presented. This mechanism provides translational motion along the Cartesian X-, Y- and Z- axes. It consists of three limbs each having an arm and forearm with prismatic-revolute-revolute-revolute joints. The moving or tool platform maintains same orientation in the entire workspace due to its joint arrangement. From inverse kinematics, the joint angles for a given position of tool platform necessary for the error modeling and analysis are obtained. Error modeling is done based on the differentiation of the inverse kinematic equations. Variation of pose errors along X, Y and Z directions for a set of dimensions of the parallel kinematic machine is presented. A non-dimensional performance index, namely, global error transformation index is used to study the influence of dimensions and its corresponding global maximum pose error is reported. An attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithms in MATLAB. The methodology presented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic Machine under study.
关键词: translational Parallel Kinematic Machine error modeling global error transformation index
Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism
TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin
《机械工程前沿(英文)》 2007年 第2卷 第2期 页码 214-217 doi: 10.1007/s11465-007-0037-3
关键词: output kinematic group slider-crank kinematic accuracy displacement
Efficient conversion of lignin to alkylphenols over highly stable inverse spinel MnFeO catalysts
《化学科学与工程前沿(英文)》 2023年 第17卷 第8期 页码 1085-1095 doi: 10.1007/s11705-022-2236-1
Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,
《工程(英文)》 doi: 10.1016/j.eng.2023.07.018
关键词: Obstacle avoidance trajectory planning Inverse reinforcement theory Anthropomorphic Adaptive driving scenarios
Qizhi MENG, Fugui XIE, Xin-Jun LIU
《机械工程前沿(英文)》 2018年 第13卷 第2期 页码 211-224 doi: 10.1007/s11465-018-0471-4
This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot’s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.
关键词: spatial parallel robot pick-and-place operations mobility analysis kinematic modeling workspace identification
Inverse identification of the mechanical parameters of a pipeline hoop and analysis of the effect of
Ye GAO, Wei SUN
《机械工程前沿(英文)》 2019年 第14卷 第3期 页码 358-368 doi: 10.1007/s11465-019-0539-9
关键词: inverse identification pipeline hoop frequency response function mechanical parameters preload
Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis
Mehdi VEISKARAMI, Ghasem HABIBAGAHI
《结构与土木工程前沿(英文)》 2013年 第7卷 第4期 页码 446-455 doi: 10.1007/s11709-013-0227-5
关键词: foundation bearing capacity limit analysis numerical computation plasticity seepage
标题 作者 时间 类型 操作
Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization
期刊论文
Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical wrist
期刊论文
Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility
Fugui XIE,Xin-Jun LIU
期刊论文
Loop theory and applications to some key problems of kinematic structure of kinematic chains
Huafeng DING, Zhen HUANG
期刊论文
Structural optimization of typical rigid links in a parallel kinematic machine
Xinjun LIU, Zhidong LI, Xiang CHEN
期刊论文
Performance of inverse fluidized bed bioreactor in treating starch wastewater
M. RAJASIMMAN, C. KARTHIKEYAN
期刊论文
Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines
Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER
期刊论文
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
期刊论文
Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism
TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin
期刊论文
Efficient conversion of lignin to alkylphenols over highly stable inverse spinel MnFeO catalysts
期刊论文
Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse
Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,
期刊论文
Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations
Qizhi MENG, Fugui XIE, Xin-Jun LIU
期刊论文
Inverse identification of the mechanical parameters of a pipeline hoop and analysis of the effect of
Ye GAO, Wei SUN
期刊论文