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Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

《机械工程前沿（英文）》 2014年第9卷第4期页码 295-307 doi: 10.1007/s11465-014-0317-7

摘要：

This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.

关键词： quadruped robot actuated joints selection kinematics analysis motion planning parallel manipulator

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Inverse Kinematics Analysis of General 6R Serial Robot Mechanism Based on Groebner Base

WANG Yan, HANG Lu-bin, YANG Ting-li

《机械工程前沿（英文）》 2006年第1卷第1期页码 115-124 doi: 10.1007/s11465-005-0022-7

摘要：

This study presents a solution for the inverse kinematics problem in serial 6R manipulator. Using only seven equations composed of Duffy s four kinematical equations containing three angles and three corresponding angles identical equations instead of the traditional 14 equations, the authors reduced the inverse kinematics problem in the general 6R manipulator to a univariate polynomial with a minimum degree based on the Groebner Base method. From that, they concluded that the maximum number of the solutions is 16, generally. Also, the mathematics mechanization method can be extended to solve other mechanism problems involving nonlinear equations symbolically.

关键词： identical manipulator univariate polynomial mechanism traditional

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Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant

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

摘要： The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization (BBO) is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization (HBBO) algorithm, which is based on BBO and differential evolution (DE), is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and DE/best/1/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an example. The end-effector error (position and orientation) and the ‘away limitation level’ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.

关键词： Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential evolution (DE)

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Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics

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

摘要：

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

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General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of

《机械工程前沿（英文）》 2022年第17卷第2期 doi: 10.1007/s11465-022-0681-7

摘要： The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblems based on the product of exponential model. However, the simple combination of subproblems cannot solve all the inverse kinematics problems, and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship. The novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper. The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems. The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship. The inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics. Huaque III minimally invasive surgical robot is used as the experimental platform for the simulation, and a master–slave tracking experiment is conducted to verify the NAG methods. The simulation result shows the inverse solutions and six sets given joint angles are consistent. Additionally, the mean and maximum of the master–slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm, respectively, while the mean and maximum of the master–slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm, respectively. The experiments results demonstrate that the closed-form solution is superior to the compensation method. The results verify the proposed general closed-form inverse kinematics based on the NAG methods.

关键词： inverse kinematics Paden–Kahan subproblems three-joint subproblems product of exponential closed-form solution

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Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Yue WANG, Jingjun YU, Xu PEI

《机械工程前沿（英文）》 2018年第13卷第3期页码 368-375 doi: 10.1007/s11465-018-0519-5

摘要：

A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study. This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10^-6 . In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.

关键词： 3-RPS parallel mechanism forward kinematics numerical algorithm parasitic motion

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Generation of closed-form inverse kinematics for reconfigurable robots

ZHAO Jie, WANG Weizhong, GAO Yongsheng, CAI Hegao

《机械工程前沿（英文）》 2008年第3卷第1期页码 91-96 doi: 10.1007/s11465-008-0013-6

摘要： For reconfigurable robots, the automatic generation of inverse kinematics is a key problem, because such robots may assume various configurations. In this paper, the screw and product-of-exponentials (POE) formula are used to model the kinematics of reconfigurable robots. The POE formula can be converted to canonical subproblems through decomposition and adjoint transformation. Three classes and 28 types of subproblems containing geometric or algebraic solutions are identified and solved, which can be reused in different configurations. A generalized, decomposable, and reusable approach for close-form inverse kinematics of reconfigurable robots is developed based on POE and subproblems. The effectiveness of this method is shown in an example.

关键词： different effectiveness generation reconfigurable algebraic

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Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool

JIA Dongyong, ZHANG Jianmin, SUN Hongchang, NIU Zhigang

《机械工程前沿（英文）》 2007年第2卷第2期页码 235-238 doi: 10.1007/s11465-007-0041-7

摘要： This paper analyzed the inverse kinematics for the new Parallel rotate slider- axes (PRS-) style hybrid machining tool and educed the five axes linkage inverse kinematics transform formula on the basis of the coordinates of the and virtual axes. The program for the PRS-XY style hybrid machining tool in accordance with the program manner for the common numerical control (NC) machine tool was made. The results of the experiments prove that the inverse kinematics transform formula is correct.

关键词： numerical accordance transform formula virtual slider-

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Family planning technical services in China

Shang-Chun WU

《医学前沿（英文）》 2010年第4卷第3期页码 285-289 doi: 10.1007/s11684-010-0097-3

摘要： Family planning is a basic state policy in China. Its aim is to control population growth and to enhance population quality. Technical services are the key measures for implementing the family planning policy. In order to ensure that people use safe, effective, and appropriate contraceptive methods based on the government’s commitment, China has established countrywide family planning service networks down to the township level. The people can access various and convenient contraceptive services. In urban areas, all contraceptive services are free. The contraceptive prevalence rate in 2007 was 84.6%, the percentage of intrauterine device (IUD) was 52.3%, that of female sterilization was 32.3%, and that of vasectomy was 6.1%. This means that more than 90% of married childbearing couples were using long-term contraceptives. At the same time, the government gives priority to supporting research on contraceptive technology. Studies’ results have provided scientific evidence for development, introduction, and expansion of contraceptive methods, and also for establishment and revision of the technical guidelines. Great efforts have been made in promoting “human-oriented and client-centered” services during the recent ten years. Remarkable success has been achieved in improving the quality of technical services.

关键词： family planning contraceptive method service delivery

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Enterprise-wide optimization of integrated planning and scheduling for refinery-petrochemical complex

《化学科学与工程前沿（英文）》 2023年第17卷第10期页码 1516-1532 doi: 10.1007/s11705-022-2283-7

摘要： This paper focuses on the integrated problem of long-term planning and short-term scheduling in a large-scale refinery-petrochemical complex, and considers the overall manufacturing process from the upstream refinery to the downstream petrochemical site. Different time scales are incorporated from the planning and scheduling subproblems. At the end of each discrete time period, additional constraints are imposed to ensure material balance between different time scales. Discrete time representation is applied to the planning subproblem, while continuous time is applied to the scheduling of ethylene cracking and polymerization processes in the petrochemical site. An enterprise-wide mathematical model is formulated through mixed integer nonlinear programming. To solve the problem efficiently, a heuristic algorithm combined with a convolutional neural network (CNN), is proposed. Binary variables are used as the CNN input, leading to the integration of a data-driven approach and classical optimization by which a heuristic algorithm is established. The results do not only illustrate the detailed operations in a refinery and petrochemical complex under planning and scheduling, but also confirm the high efficiency of the proposed algorithm for solving large-scale problems.

关键词： planning scheduling refinery-petrochemical convolutional neural network heuristic algorithm

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Development and challenges of planning and scheduling for petroleum and petrochemical production

Fupei LI, Minglei YANG, Wenli DU, Xin DAI

《工程管理前沿（英文）》 2020年第7卷第3期页码 373-383 doi: 10.1007/s42524-020-0123-3

摘要： Production planning and scheduling are becoming the core of production management, which support the decision of a petrochemical company. The optimization of production planning and scheduling is attempted by every refinery because it gains additional profit and stabilizes the daily production. The optimization problem considered in industry and academic research is of different levels of realism and complexity, thus increasing the gap. Operation research with mathematical programming is a conventional approach used to address the planning and scheduling problem. Additionally, modeling the processes, objectives, and constraints and developing the optimization algorithms are significant for industry and research. This paper introduces the perspective of production planning and scheduling from the development viewpoint.

关键词： planning and scheduling optimization modeling

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一种改进BP算法在机械手逆运动学中的应用

吴爱国,郝润生

《中国工程科学》 2005年第7卷第7期页码 34-38

摘要：

通过对传统BP算法的分析，提出了一种改进激励函数的学习方法，并且在神经网络的每一层采用不同的学习速率，以提高训练速度；采用所提出的改进BP算法，训练多层前向神经网络，建立机械手逆运动学模型，仿真结果表明了该算法的有效性；与传统BP算法相比，大大提高了机械手逆运动学的精度。

关键词：神经网络 BP算法激励函数机械手逆运动学

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Ant colony optimization for assembly sequence planning based on parameters optimization

Zunpu HAN, Yong WANG, De TIAN

《机械工程前沿（英文）》 2021年第16卷第2期页码 393-409 doi: 10.1007/s11465-020-0613-3

摘要： As an important part of product design and manufacturing, assembly sequence planning (ASP) has a considerable impact on product quality and manufacturing costs. ASP is a typical NP-complete problem that requires effective methods to find the optimal or near-optimal assembly sequence. First, multiple assembly constraints and rules are incorporated into an assembly model. The assembly constraints and rules guarantee to obtain a reasonable assembly sequence. Second, an algorithm called SOS-ACO that combines symbiotic organisms search (SOS) and ant colony optimization (ACO) is proposed to calculate the optimal or near-optimal assembly sequence. Several of the ACO parameter values are given, and the remaining ones are adaptively optimized by SOS. Thus, the complexity of ACO parameter assignment is greatly reduced. Compared with the ACO algorithm, the hybrid SOS-ACO algorithm finds optimal or near-optimal assembly sequences in fewer iterations. SOS-ACO is also robust in identifying the best assembly sequence in nearly every experiment. Lastly, the performance of SOS-ACO when the given ACO parameters are changed is analyzed through experiments. Experimental results reveal that SOS-ACO has good adaptive capability to various values of given parameters and can achieve competitive solutions.

关键词： assembly sequence planning ant colony optimization symbiotic organisms search parameter optimization

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Oscillation frequency of simplified arterial tubes

Hui AN, Fan HE, Lingxia XING, Xiaoyang LI

《机械工程前沿（英文）》 2009年第4卷第3期页码 300-304 doi: 10.1007/s11465-009-0038-5

摘要： To construct the spatial kinetic equation of an arterial tube and obtain its radial natural frequency, a linear-elastic and small deformation condition is assumed. The theoretical analysis is first presented and the finite element method is then used to numerically simulate the spatial kinematics. The results show that the first-order frequency is 15.8 Hz and the obtained exact analytical solutions agree well with numerical solutions, which proves that the theoretical analysis and numerical simulation are both correct.

关键词： spatial kinematics natural frequency finite element method

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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

《机械工程前沿（英文）》 2012年第7卷第1期页码 81-92 doi: 10.1007/s11465-012-0309-4

摘要：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

关键词： complex curve seam two robots coordinated welding motion planning