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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
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
《机械工程前沿(英文)》 2011年 第6卷 第1期 页码 45-60 doi: 10.1007/s11465-011-0205-3
In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.
关键词: anthropomimetic design robotic arm cable-driven mechanism kinematic analysis design optimization
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
《信息与电子工程前沿(英文)》 2015年 第16卷 第7期 页码 607-616 doi: 10.1631/FITEE.14a0335
关键词: Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential evolution (DE)
《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
Baochen WEI, Feng GAO
《机械工程前沿(英文)》 2012年 第7卷 第2期 页码 109-119 doi: 10.1007/s11465-012-0323-6
Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.
关键词: working capacity multi-DOF manipulator capacity polytope excavating mechanism
Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI
《机械工程前沿(英文)》 2021年 第16卷 第1期 页码 46-60 doi: 10.1007/s11465-020-0606-2
关键词: 5-DOF hybrid manipulator reconfigurable base large workspace dimensional synthesis optimal design
Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 451-467 doi: 10.1007/s11465-021-0634-6
关键词: redundant actuation parallel manipulator linkage–cam mechanism Jacobian optimal design
Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO
《机械工程前沿(英文)》 2020年 第15卷 第1期 页码 66-80 doi: 10.1007/s11465-019-0570-x
关键词: parallel mechanism redundant mechanism large rotational angles machine tools 2R1T spindle head collaborative manipulator
Manufacturing error analysis of compliant 3-DOF microrobot
CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua
《机械工程前沿(英文)》 2006年 第1卷 第3期 页码 299-304 doi: 10.1007/s11465-006-0030-2
Precision control system of two-DOF stage with linear ultrasonic motor
ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng
《机械工程前沿(英文)》 2008年 第3卷 第4期 页码 421-425 doi: 10.1007/s11465-008-0063-9
关键词: settling position accuracy PI control control algorithm orthogonal
Reverse driving character of 2-DOF closed chain haptic device
GUO Wei-dong, GUO Xin, ZHANG Yu-ru
《机械工程前沿(英文)》 2006年 第1卷 第3期 页码 356-359 doi: 10.1007/s11465-006-0029-8
Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA
《机械工程前沿(英文)》 2015年 第10卷 第3期 页码 221-232 doi: 10.1007/s11465-015-0347-9
In the mechanized harvest of vines, grape berries are detached through the vibration to the structure supporting the clusters. According to the kind of guide selected, the clusters require one or two vibration directions in the structure. For guiding in parral structures, vibration is necessary in two directions or planes: One perpendicular to the other. The guide branches producing the clusters develop in these planes, and the guiding is called H-guiding. Mechanism theory indicates that a mechanism has as many degrees of freedom as its actuators, and an actuator is needed to achieve a certain vibration. Having the smallest number of possible actuators is beneficial in reducing moving parts and achieving more compact and easily controllable mecha-nisms. In this case, a single degree-of-freedom mechanism is proposed. It is capable of generating vibrations on two planes: One perpendicular to the other. This mechanism is the sum of two link mechanisms on perpendicular planes with a common outlet located at the output rod of the mechanism where the actuator is found. As the distance between the soil and the elements containing the clusters is not constant, a system has been designed to measure the accelerations at the bars and the rocker to validate the acceleration values that detach the grape berries in a prototype in a lab experiment, to ensure that the acceleration needed for pulling the grape berries are produced at any contact point of the bar.
Resistance of large deformation of the Wushaoling Tunnel F7 soft fault
ZHAO Xufeng, CHEN Haiming, WANG Chunmiao
《结构与土木工程前沿(英文)》 2007年 第1卷 第1期 页码 123-127 doi: 10.1007/s11709-007-0013-3
Acid Orange 7 degradation using methane as the sole carbon source and electron donor
《环境科学与工程前沿(英文)》 2022年 第16卷 第3期 doi: 10.1007/s11783-021-1468-5
• AO7 degradation was coupled with anaerobic methane oxidation.
关键词: Azo dyes AO7 degradation Anaerobic methane oxidation Microbial community ANME-2d
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
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
期刊论文
Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundanthumanoid manipulator
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
期刊论文
Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical
期刊论文
A method to calculate working capacity space of multi-DOF manipulator and the application in excavating
Baochen WEI, Feng GAO
期刊论文
Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical
Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI
期刊论文
Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational
Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO
期刊论文
Manufacturing error analysis of compliant 3-DOF microrobot
CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua
期刊论文
Precision control system of two-DOF stage with linear ultrasonic motor
ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng
期刊论文
Reverse driving character of 2-DOF closed chain haptic device
GUO Wei-dong, GUO Xin, ZHANG Yu-ru
期刊论文
One DOF mechanism for the mechanical harvest of vines in an arbor structure and the validation of the
Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA
期刊论文
Resistance of large deformation of the Wushaoling Tunnel F7 soft fault
ZHAO Xufeng, CHEN Haiming, WANG Chunmiao
期刊论文