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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

摘要：

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    

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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

摘要：

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    

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Numerical analysis of hydrodynamic process of circular-translational-moving polishing (CTMP)

ZHAI Wenjie, LIU Changxiong, LIANG Yingchun

《机械工程前沿（英文）》 2008年 第3卷 第4期   页码 441-448 doi: 10.1007/s11465-008-0074-6

摘要： By keeping a pad moving relative to a wafer along a circular path without rotation, we developed a polishing technique called circular-translational-moving polishing (CTMP), which permits multidirectional polishing of the work piece and thus bears the advantage of isotropic polishing and a potential increase of material removal rate (MRR) on the wafer. To illuminate the mechanisms of CTMP and determine the optimum process variables in a CTMP process, a three-dimensional hydrodynamic lubrication model for CTMP with a smooth and rigid pad under a quasi-stable state is established in a polar coordinate system. The model equations are further calculated numerically by the finite difference method. The instantaneous distribution of fluid pressure is obtained, which shows that a negative pressure exists. The reason for negative pressure in CTMP and its effect on polishing is discussed. Moreover, the nominal clearance of the fluid film, roll, and pitch angles under different working conditions are obtained in terms of the applied load, moments, and polishing velocity. The obtained numerical analysis can be used as guidance for choosing operation parameters in a practical CTMP application.

关键词： numerical analysis     practical CTMP     circular-translational-moving polishing     CTMP     different    

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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 711-725 doi: 10.1007/s11465-021-0647-1

摘要： The safety of human–robot interaction is an essential requirement for designing collaborative robotics. Thus, this paper aims to design a novel variable stiffness actuator (VSA) that can provide safer physical human–robot interaction for collaborative robotics. VSA follows the idea of modular design, mainly including a variable stiffness module and a drive module. The variable stiffness module transmits the motion from the drive module in a roundabout manner, making the modularization of VSA possible. As the key component of the variable stiffness module, a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously, which can eliminate the additional bending moment caused by the asymmetric structure. The design of the double-deck grooves in the lever allows the pivot to move freely in the groove, avoiding the geometric constraint between the parts. Consequently, the VSA stiffness can change from zero to infinity as the pivot moves from one end of the groove to the other. To facilitate building a manipulator in the future, an expandable electrical system with a distributed structure is also proposed. Stiffness calibration and control experiments are performed to evaluate the physical performance of the designed VSA. Experiment results show that the VSA stiffness is close to the theoretical design stiffness. Furthermore, the VSA with a proportional–derivative feedback plus feedforward controller exhibits a fast response for stiffness regulation and a good performance for position tracking.

关键词： variable stiffness actuator     variable stiffness module     drive module     symmetrical structure     double-deck grooves     expandable electrical system    

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Bone metastasis of hepatocellular carcinoma: facts and hopes from clinical and translational perspectives

《医学前沿（英文）》 2022年 第16卷 第4期   页码 551-573 doi: 10.1007/s11684-022-0928-z

摘要： Patients with hepatocellular carcinoma (HCC) and bone metastasis (BM) suffer from greatly reduced life quality and a dismal prognosis. However, BM in HCC has long been overlooked possibly due to its relatively low prevalence in previous decades. To date, no consensus or guidelines have been reached or formulated for the prevention and management of HCC BM. Our narrative review manifests the increasing incidence of HCC BM to sound the alarm for additional attention. The risk factors, diagnosis, prognosis, and therapeutic approaches of HCC BM are detailed to provide a panoramic view of this disease to clinicians and specialists. We further delineate an informative cancer bone metastatic cascade based on evidence from recent studies and point out the main factors responsible for the tumor-associated disruption of bone homeostasis and the formation of skeletal cancer lesions. We also present the advances in the pathological and molecular mechanisms of HCC BM to shed light on translational opportunities. Dilemmas and challenges in the treatment and investigation of HCC BM are outlined and discussed to encourage further endeavors in the exploration of underlying pathogenic and molecular mechanisms, as well as the development of novel effective therapies for HCC patients with BM.

关键词： HCC     bone     osteotropism     clinical     basic researches     advances    

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Conceptual design of compliant translational joints for high-precision applications

Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG

《机械工程前沿（英文）》 2014年 第9卷 第4期   页码 331-343 doi: 10.1007/s11465-014-0321-y

摘要：

Compliant translational joints (CTJs) have been extensively used in precision engineering and microelectromechanical systems (MEMS). There is an increasing need for designing higher-performance CTJs. This paper deals with the conceptual design of CTJs via three approaches: parallelogram based method, straight-line motion mechanism based method and combination based method. Typical emerging CTJ designs are reviewed by explaining their design principles and qualitatively analyzing their characteristics. New CTJs are proposed using three approaches, including an asymmetric double parallelogram mechanism with slaving mechanism, several compact and symmetric double parallelogram mechanisms with slaving mechanisms and a general CTJ using the center drift compensation and a CTJ using Roberts linkage and several combination designs. This paper provides an overview of the current advances/progresses of CTJ designs and lays the foundation for further optimization, quantitative analysis and characteristic comparisons.

关键词： compliant mechanisms     translational joints     conceptual design     parallelogram     straight-line motion     combination method    

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Dendritic cell vaccines in cancer immunotherapy: from biology to translational medicine

Hongmei Xu, Xuetao Cao

《医学前沿（英文）》 2011年 第5卷 第4期   页码 323-332 doi: 10.1007/s11684-011-0172-4

摘要：
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Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0695-1

摘要： This study presents a family of novel translational parallel mechanisms (TPMs) with single-loop topological structures. The proposed mechanism consists of only revolute and prismatic joints. The novel TPMs are simpler in structure and have fewer joints and components than the well-known Delta Robot. Four types of 2-degree of freedom driving systems are applied to different limb structures to avoid the moving actuator that causes the problem of increased moving mass. Four sample TPMs are constructed using the synthesized limbs, and one of them is investigated in terms of kinematic performance. First, a position analysis is performed and validated through numerical simulation to reveal the characteristics of partially decoupled motion, which improves the controllability of TPM. Second, singular configurations are identified, and the resulting singularity curve is obtained. Lastly, the workspace of TPM is analyzed, and the relationship between the singular configurations and the reachable workspace is explored. The workspace of the 3-CRR (C denotes the cylindrical joint and R denotes the revolute joint) translational mechanism is also presented to prove that the proposed TPM has a fairly large workspace.

关键词： translational parallel mechanism     single loop     multiple driving system     workspace analysis     singularity    

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Comparison of indices for stiffness performance evaluation

Giuseppe CARBONE, Marco CECCARELLI,

《机械工程前沿（英文）》 2010年 第5卷 第3期   页码 270-278 doi: 10.1007/s11465-010-0023-z

摘要： This paper addresses the problem of a numerical evaluation of the stiffness performance for multibody robotic systems. An overview is presented with basic formulation concerning indices that are proposed in literature. New indices are also outlined. Stiffness indices are computed and compared for a case study. Results are used for comparing the effectiveness of the stiffness indices. The main goal is to propose a performance index describing synthetically the elastostatic response of a multibody robotic system and also for design purposes.

关键词： robotics     stiffness     performance indices    

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Overcoming the challenges of conducting translational research in cell therapy

Sowmya Viswanathan, Armand Keating

《医学前沿（英文）》 2011年 第5卷 第4期   页码 333-335 doi: 10.1007/s11684-011-0166-2

摘要： Cell therapy holds promise in addressing a number of unmet medical needs but despite its considerable impetus, faces numerous challenges including support for translational research in this area. Here, we examine the challenges confronting cell therapy research including the limited funding available for translational research partly due to the uncompetitive nature of required validation studies in cell therapy that of necessity are not hypothesis-driven. Other issues include lack of standardization of definitions of cell products, uncertainty regarding optimum preclinical animal models, duplication of efforts to secure regulatory approval and a lack of uniformity of nomenclature for some cell products. Nonetheless, several initiatives to address all of these issues are underway.

关键词： stem cells     clinical trials     funding     animal models     standardization     common definitions    

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New nonlinear stiffness actuator with predefined torque‒deflection profile

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0721-3

摘要： A nonlinear stiffness actuator (NSA) could achieve high torque/force resolution in low stiffness range and high bandwidth in high stiffness range, both of which are beneficial for physical interaction between a robot and the environment. Currently, most of NSAs are complex and hardly used for engineering. In this paper, oriented to engineering applications, a new simple NSA was proposed, mainly including leaf springs and especially designed cams, which could perform a predefined relationship between torque and deflection. The new NSA has a compact structure, and it is lightweight, both of which are also beneficial for its practical application. An analytical methodology that maps the predefined relationship between torque and deflection to the profile of the cam was developed. The optimal parameters of the structure were given by analyzing the weight of the NSA and the mechanic characteristic of the leaf spring. Though sliding friction force is inevitable because no rollers were used in the cam-based mechanism, the sliding displacement between the cam and the leaf spring is very small, and consumption of sliding friction force is very low. Simulations of different torque‒deflection profiles were carried out to verify the accuracy and applicability of performing predefined torque‒deflection profiles. Three kinds of prototype experiments, including verification experiment of the predefined torque‒deflection profile, torque tracking experiment, and position tracking experiment under different loads, were conducted. The results prove the accuracy of performing the predefined torque‒deflection profile, the tracking performance, and the interactive performance of the new NSA.

关键词： compliant actuator     nonlinear stiffness actuator     nonlinear spring     predefined torque−deflection profile    

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Acupuncture-related techniques for the treatment of opiate addiction: a case of translational medicine

Jisheng Han, Cailian Cui, Liuzhen Wu

《医学前沿（英文）》 2011年 第5卷 第2期   页码 141-150 doi: 10.1007/s11684-011-0136-8

摘要： Drug addiction is a chronic brain disorder characterized by withdrawal symptoms that occur during drug abstinence and a high tendency of relapse. Compared with the currently available pharmacological interventions, acupuncture therapy has the potential to help drug addicts stay away from drugs without major adverse side effects. It has taken decades of research to optimize the parameters of electrical acupoint stimulation for detoxification and for relapse prevention, as well as to establish a safe and easy procedure by which drug addicts can use it on themselves. The discovery that acupuncture can trigger the release of opioid substances from the brain in the 1970s provided the inspiration. Following this, basic research on animals made it possible to understand the mechanisms of action and establish the procedure for treating drug addictions. This article reviews the past, present, and foreseeable future regarding the use of acupuncture-related technique for the treatment of opiate addiction from the perspective of translational medicine.

关键词： morphine     dependence     withdrawal     addiction     dynorphins     acupuncture     electroacupuncture     transcutaneous electrical acupoint stimulation (TEAS)     enkephalins     endorphins    

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Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0691-5

摘要： This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments, such as unstructured or man-made operational errors through comprehensive consideration of cost, accuracy, manufacturing, and application. Based on the concept of mechanical passive compliance, which is widely implemented in robots for interactions, a finger is dedicated to improving mechanical robustness. The finger mechanism not only achieves passive compliance against physical impacts, but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators. It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness. The mechanical design of the finger and its stiffness adjusting methods are elaborated. The stiffness characteristics of the finger joint and the actuation unit are analyzed. Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model. Fingers have been experimentally proven to be robust against physical impacts. Moreover, the experimental part verifies that fingers have good power, grasping, and manipulation performance.

关键词： multifingered hand     mechanism design     robot safety     variable stiffness actuator    

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Mechanical performance analysis and stiffness test of a new type of suspension bridge

《结构与土木工程前沿（英文）》 2021年 第15卷 第5期   页码 1160-1180 doi: 10.1007/s11709-021-0760-6

摘要： A new type of suspension bridge is proposed based on the gravity stiffness principle. Compared with a conventional suspension bridge, the proposed bridge adds rigid webs and cross braces. The rigid webs connect the main cable and main girder to form a truss that can improve the bending stiffness of the bridge. The cross braces connect the main cables to form a closed space truss structure that can improve the torsional stiffness of the bridge. The rigid webs and cross braces are installed after the construction of a conventional suspension bridge is completed to resist different loads with different structural forms. A new type of railway suspension bridge with a span of 340 m and a highway suspension bridge with a span of 1020 m were designed and analysed using the finite element method. The stress, deflection of the girders, unbalanced forces of the main towers, and natural frequencies were compared with those of conventional suspension bridges. A stiffness test was carried out on the new type of suspension bridge with a small span, and the results were compared with those for a conventional bridge. The results showed that the new suspension bridge had a better performance than the conventional suspension bridge.

关键词： new type of suspension bridge     stiffness test     mechanical performance     railway bridge     space truss    

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Investigating the influence of delamination on the stiffness of composite pipes under compressive transverse

Sattar MALEKI, Roham RAFIEE, Abolfazl HASANNIA, Mohammad Reza HABIBAGAHI

《结构与土木工程前沿（英文）》 2019年 第13卷 第6期   页码 1316-1323 doi: 10.1007/s11709-019-0555-1

摘要： The effect of delamination on the stiffness reduction of composite pipes is studied in this research. The stiffness test of filament wound composite pipes is simulated using cohesive zone method. The modeling is accomplished to study the effect of the geometrical parameters including delamination size and its position with respect to loading direction on stiffness of the composite pipes. At first, finite element results for stiffness test of a perfect pipe without delamination are validated with the experimental results according to ASTM D2412. It is seen that the finite element results agree well with experimental results. Then the finite element model is developed for composite pips with delaminated areas with different primary shapes. Thus, the effect of the size of delaminated region on longitudinal and tangential directions and also its orientation with respect to loading direction on delamination propagation and stiffness reduction of the pipes is assessed.

关键词： delamination     composite pipes     stiffness test     cohesive zone method    

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标题 作者 时间 类型 操作

Stiffness of a 3-degree of freedom translational parallel kinematic machine

null

期刊论文

Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

null

期刊论文

Numerical analysis of hydrodynamic process of circular-translational-moving polishing (CTMP)

ZHAI Wenjie, LIU Changxiong, LIANG Yingchun

期刊论文

Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

期刊论文

Bone metastasis of hepatocellular carcinoma: facts and hopes from clinical and translational perspectives

期刊论文

Conceptual design of compliant translational joints for high-precision applications

Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG

期刊论文

Dendritic cell vaccines in cancer immunotherapy: from biology to translational medicine

Hongmei Xu, Xuetao Cao

期刊论文

Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

期刊论文

Comparison of indices for stiffness performance evaluation

Giuseppe CARBONE, Marco CECCARELLI,

期刊论文

Overcoming the challenges of conducting translational research in cell therapy

Sowmya Viswanathan, Armand Keating

期刊论文

New nonlinear stiffness actuator with predefined torque‒deflection profile

期刊论文

Acupuncture-related techniques for the treatment of opiate addiction: a case of translational medicine

Jisheng Han, Cailian Cui, Liuzhen Wu

期刊论文

Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous

期刊论文

Mechanical performance analysis and stiffness test of a new type of suspension bridge

期刊论文

Investigating the influence of delamination on the stiffness of composite pipes under compressive transverse

Sattar MALEKI, Roham RAFIEE, Abolfazl HASANNIA, Mohammad Reza HABIBAGAHI

期刊论文