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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 435-450 doi: 10.1007/s11465-021-0630-x

Abstract: This study proposes a high-precision, semi-analytical inverse method for EMMs.Firstly, the analytical inverse kinematic solution is established based on joint angle parameterizationSecondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundantThirdly, the error is corrected using a numerical method through the analytical inverse solution basedAfter selecting the stride and termination condition, the precise inverse solution is computed for the

Keywords： 7-DOF redundant manipulator     inverse kinematics     semi-analytical     arm angle     link offset    

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

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 3,   Pages 233-241 doi: 10.1007/s11465-014-0312-z

Abstract:

In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machineInverse kinematics analysis is carried out to find the slider coordinates and joint angles for a given

Keywords： 3-DOF translational PKM     inverse kinematics     stiffness modeling     translational stiffness    

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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical wrist

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 698-710 doi: 10.1007/s11465-021-0646-2

Abstract: indicates the active joint), the 2-DOF parallel structure is partially decoupled to obtain simple forward/inversekinematic solutions in which a closed-loop subchain “R PRR” is included.is then designed, and its third joint axis goes through the spherical center to obtain closed-form inversekinematic computation.The analytical inverse kinematic solution is drawn by constructing self-motion manifolds.

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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

Fugui XIE,Xin-Jun LIU

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 135-143 doi: 10.1007/s11465-016-0389-7

Abstract: Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigatedThe mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study

Keywords： parallel robot     mobility     inverse kinematics     singularity     transmission performance    

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Loop theory and applications to some key problems of kinematic structure of kinematic chains

Huafeng DING, Zhen HUANG

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3,   Pages 276-283 doi: 10.1007/s11465-009-0061-6

Abstract: In this paper, a new loop theory of kinematic chains is proposed.computer-based automatic synthesis of mechanisms are solved. 1) The open problem of isomorphism of kinematicthe same even if the drawing modes and labeling ways of a chain are changed, and an atlas database of kinematicThe multi-value problem for the representation of kinematic chains is solved.

Keywords： Loop theory     kinematic chains     isomorphism     atlas database    

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Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 3,   Pages 344-353 doi: 10.1007/s11465-011-0227-x

Abstract:

The motion dynamics and accuracy of parallel kinematic machines largely depend on the weights andemploys the techniques of topology and size optimization to design two typical rigid links of a parallel kinematic

Keywords： topology optimization     size optimization     parallel kinematic machine (PKM)    

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Performance of inverse fluidized bed bioreactor in treating starch wastewater

M. RAJASIMMAN, C. KARTHIKEYAN

Frontiers of Chemical Science and Engineering 2009, Volume 3, Issue 3,   Pages 235-239 doi: 10.1007/s11705-009-0020-0

Abstract: Aerobic digestion of starch industry wastewater was carried out in an inverse fluidized bed bioreactor

Keywords： inverse fluidization     low-density particles     polypropylene     starch     biofilm    

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Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 120-134 doi: 10.1007/s11465-012-0321-8

Abstract:

In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct

Keywords： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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

S. SHANKAR GANESH,A. B. KOTESWARA RAO

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 2,   Pages 120-129 doi: 10.1007/s11465-014-0300-3

Abstract: >In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel KinematicFrom inverse kinematics, the joint angles for a given position of tool platform necessary for the errorError modeling is done based on the differentiation of the inverse kinematic equations.X, Y and Z directions for a set of dimensions of the parallel kinematicAn attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithms

Keywords： translational Parallel Kinematic Machine     error modeling     global error transformation index    

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Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism

TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 214-217 doi: 10.1007/s11465-007-0037-3

Abstract: This paper deals with the static and dynamic output kinematic accuracy of a group of elastic slider-crankAccording to the principle of linear pile-up of small displacement, the static and dynamic output kinematicerrors are synthesized, and the reliability model of the kinematic accuracy of the mechanism is builtThrough an example, a study of the influencing factors on the reliability of the output kinematic accuracydeformation of the mechanism becomes the principal factor that greatly affects the reliability of the output kinematic

Keywords： output kinematic     group     slider-crank     kinematic accuracy     displacement    

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Efficient conversion of lignin to alkylphenols over highly stable inverse spinel MnFeO catalysts

Frontiers of Chemical Science and Engineering 2023, Volume 17, Issue 8,   Pages 1085-1095 doi: 10.1007/s11705-022-2236-1

Abstract: The aromatic properties of lignin make it a promising source of valuable chemicals and fuels. Developing efficient and stable catalysts to effectively convert lignin into high-value chemicals is challenging. In this work, MnFe2O4 spinel catalysts with oxygen-rich vacancies and porous distribution were synthesized by a simple solvothermal process and used to catalyze the depolymerization of lignin in an isopropanol solvent system. The specific surface area was 110.5 m2∙g–1, which substantially increased the active sites for lignin depolymerization compared to Fe3O4. The conversion of lignin reached 94%, and the selectivity of alkylphenols exceeded 90% after 5 h at 250 °C. Underpinned by characterizations, products, and density functional theory analysis, the results showed that the catalytic performance of MnFe2O4 was attributed to the composition of Mn and Fe with strong Mn–O–Fe synergy. In addition, the cycling experiments and characterization showed that the depolymerized lignin on MnFe2O4 has excellent cycling stability. Thus, our work provides valuable insights into the mechanism of lignin catalytic depolymerization and paves the way for the industrial-scale application of this process.

Keywords： lignin depolymerization     spinel     catalysts     hydrogenation    

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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Engineering doi: 10.1016/j.eng.2023.07.018

Abstract: Subsequently, a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse

Keywords： Obstacle avoidance trajectory planning     Inverse reinforcement theory     Anthropomorphic     Adaptive driving    

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Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 211-224 doi: 10.1007/s11465-018-0471-4

Abstract:

This paper deals with the conceptual design, kinematic analysis and workspace identification of aIn addition, the inverse kinematics is derived, and the constraint conditions to identify the correct

Keywords： spatial parallel robot     pick-and-place operations     mobility analysis     kinematic modeling     workspace identification    

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Inverse identification of the mechanical parameters of a pipeline hoop and analysis of the effect of

Ye GAO, Wei SUN

Frontiers of Mechanical Engineering 2019, Volume 14, Issue 3,   Pages 358-368 doi: 10.1007/s11465-019-0539-9

Abstract: In this study, an inverse method was developed by utilizing measured vibration data to identify the supportOn the premise of selecting initial values reasonably, an inverse identification algorithm based on sensitivity

Keywords： inverse identification     pipeline hoop     frequency response function     mechanical parameters     preload    

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Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis

Mehdi VEISKARAMI, Ghasem HABIBAGAHI

Frontiers of Structural and Civil Engineering 2013, Volume 7, Issue 4,   Pages 446-455 doi: 10.1007/s11709-013-0227-5

Abstract: The kinematic approach of the limit analysis was employed to find the upper-bound limit of the bearing

Keywords： foundation     bearing capacity     limit analysis     numerical computation     plasticity     seepage    

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Title Author Date Type Operation

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Journal Article

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

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Journal Article

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical wrist

Journal Article

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

Fugui XIE,Xin-Jun LIU

Journal Article

Loop theory and applications to some key problems of kinematic structure of kinematic chains

Huafeng DING, Zhen HUANG

Journal Article

Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

Journal Article

Performance of inverse fluidized bed bioreactor in treating starch wastewater

M. RAJASIMMAN, C. KARTHIKEYAN

Journal Article

Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Journal Article

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

S. SHANKAR GANESH,A. B. KOTESWARA RAO

Journal Article

Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism

TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin

Journal Article

Efficient conversion of lignin to alkylphenols over highly stable inverse spinel MnFeO catalysts

Journal Article

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Journal Article

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

Journal Article

Inverse identification of the mechanical parameters of a pipeline hoop and analysis of the effect of

Ye GAO, Wei SUN

Journal Article

Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis

Mehdi VEISKARAMI, Ghasem HABIBAGAHI

Journal Article