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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
Wanghui BU, Zhenyu LIU, Jianrong TAN, Jin CHENG
《机械工程前沿(英文)》 2011年 第6卷 第4期 页码 463-467 doi: 10.1007/s11465-011-0225-z
The shield machine is a heavy construction machine for tunnel excavation, and the segment erector is an important subsystem of the shield machine. It is difficult to achieve precise control in the 6-DOF (degree of freedom) erector in the 2-DOF 5-bar radial mechanism. Hence, this paper proposes a redundantly actuated PRPRP radial mechanism for the segment erector. When the redundant actuator is unlocked, the radial mechanism is able to adjust its posture, which has two degrees of freedom. On the other hand, when the redundant actuator is locked or produces enough pre-tightening tensile force, the PRPRP mechanism can ensure the synchronization of the two driving hydraulic cylinders along the radial direction based on the mechanical structure, which has one degree of freedom. The redundant actuator also facilitates the equal application of two flexural torques at the hydraulic cylinders; thus, preventing the overload of a single cylinder.
关键词: redundant actuation parallel mechanisms five-bar mechanisms segment erectors shield machines
《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
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
A new method for boring of non-circular holes
ZHANG Kai, HU De-jin
《机械工程前沿(英文)》 2006年 第1卷 第4期 页码 456-460 doi: 10.1007/s11465-006-0058-3
关键词: electromagnetic actuation control method displacement flexible body revolving electromagnetic
Surface tension of liquid metal: role, mechanism and application
Xi ZHAO, Shuo XU, Jing LIU
《能源前沿(英文)》 2017年 第11卷 第4期 页码 535-567 doi: 10.1007/s11708-017-0463-9
关键词: surface tension liquid metal soft machine printed electronics electrowetting self-actuation
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)
一种用于文本分类的去冗余特征选择新方法 None
You-wei WANG, Li-zhou FENG
《信息与电子工程前沿(英文)》 2018年 第19卷 第2期 页码 221-234 doi: 10.1631/FITEE.1601761
Pathirikkat GOPAKUMAR, G. Surya CHANDRA, M. Jaya Bharata REDDY, Dusmata Kumar MOHANTA
《能源前沿(英文)》 2013年 第7卷 第4期 页码 413-428 doi: 10.1007/s11708-013-0274-6
关键词: phasor measurement unit (PMU) smart grid (SG) Indian power grid northern region Indian power grid (NRIPG) eastern region Indian power grid (ERIPG) north-eastern region Indian power grid (NERIPG) redundancy integer linear programing (ILP)
《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
振动驱动的微型机器人非完整约束补偿的定位方法 Article
Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos
《工程(英文)》 2015年 第1卷 第1期 页码 66-72 doi: 10.15302/J-ENG-2015016
本文提出了一种微型移动机器人非完整约束补偿的定位方法,推导了相关公式并进行了实际操作。该移动机器人由两台振动型直流微型电机驱动。本文所描述的开环法和闭环法增加了微型机器人平台侧向净位移的能力,这是通过执行若干重复步骤来实现的,这些步骤与期望位置、速度和时间相关。仿真和试验结果验证了所述方法的有效性。
A modular design kit for task-adaptable low-cost robots based on BaPaMan design
G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ
《机械工程前沿(英文)》 2013年 第8卷 第1期 页码 33-41 doi: 10.1007/s11465-013-0356-5
This paper discusses the redesign of a binary parallel manipulator named BaPaMan (Binary Actuated Parallel Manipulator). The aim of this work is the improvement of the structures stiffness of BaPaMan. Additionally this paper shows the implementation of a construction kit which allows task-adaptation of low-cost robots based on the BaPaMan structure. BaPaMan is a three degree of freedom (DOF) spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA is used to improve the flexure hinge performance, which analyses relations between several design parameters and the stiffness of the entire system. Finally, task-adaptation is achieved by using a design methodology and a parametric CAD model for BaPaMan. Besides the paper introduces first applications of the BaPaMan structure and shows future work.
关键词: binary actuation flexure hinges SMA actuators low-cost design kit task-adaptation
Xu-Dong ZHANG, Yue SUN, Sen CHEN, Jing LIU
《能源前沿(英文)》 2018年 第12卷 第2期 页码 276-296 doi: 10.1007/s11708-018-0545-3
关键词: liquid metal hybrid fluid hydrodynamics surface tension applied fields self-actuation
郭成昊,刘凤玉
《中国工程科学》 2007年 第9卷 第10期 页码 75-79
容错系统不仅会产生硬件故障,由于连续长时间的运行,系统的性能也会逐渐下降或失效,即老化现象。综合考虑容错系统中的硬件故障和老化现象,提出了将传统的冗余技术和软件抗衰技术相结合的策略,并给出了该系统的非马尔可夫随机Petri网模型,随之对基于该模型的系统进行了定量分析。
关键词: 容错系统 软件抗衰 软件老化 冗余策略 非马尔可夫随机Petri网
标题 作者 时间 类型 操作
A redundantly actuated PRPRP radial mechanism in the segment erector of a shield machine for synchronization control
Wanghui BU, Zhenyu LIU, Jianrong TAN, Jin CHENG
期刊论文
Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical
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
Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
期刊论文
Optimal redundant placement of PMUs in Indian power grid — northern, eastern and north-eastern regions
Pathirikkat GOPAKUMAR, G. Surya CHANDRA, M. Jaya Bharata REDDY, Dusmata Kumar MOHANTA
期刊论文
Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization
期刊论文
A modular design kit for task-adaptable low-cost robots based on BaPaMan design
G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ
期刊论文
Unconventional hydrodynamics of hybrid fluid made of liquid metals and aqueous solution under applied fields
Xu-Dong ZHANG, Yue SUN, Sen CHEN, Jing LIU
期刊论文