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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 machine(PKM) is studied and analyzed whose tool platform has only translations along X-, translational stiffness in the workspaceFor various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum

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

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Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 299-304 doi: 10.1007/s11465-006-0030-2

Abstract: Therefore, various manufacturing imperfections were studied by taking a planar 3 degrees of freedom (3-DOF) flexure hinge based microrobot as a case.

Keywords： centerline     stiffness     effective     manipulator     precision    

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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 ParallelThis mechanism provides translational motion along the Cartesian X-, Y- and 

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

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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 308-316 doi: 10.1007/s11465-014-0318-6

Abstract:

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

Keywords： humanoid robots     torso design     parallel manipulators (PKM)     conceptual design    

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

ZHAI Wenjie, LIU Changxiong, LIANG Yingchun

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 4,   Pages 441-448 doi: 10.1007/s11465-008-0074-6

Abstract: a wafer along a circular path without rotation, we developed a polishing technique called circular-translational-moving

Keywords： numerical analysis     practical CTMP     circular-translational-moving polishing     CTMP     different    

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FOXP3 and Its Cofactors as Targets of Immunotherapies Review

Yasuhiro Nagai,Lian Lam,Mark I. Greene,Hongtao Zhang

Engineering 2019, Volume 5, Issue 1,   Pages 115-121 doi: 10.1016/j.eng.2019.01.001

Abstract:

Forkhead box P3 (FOXP3) is a "master regulator" of regulatory T cells (Tregs), which areIt is well known that FOXP3 forms complexes with several proteins and can be regulated by various post-translationalAlthough FOXP3 per se is not an ideal drug target, deacetylases, acetyltransferases, kinases, and other enzymes that regulate the PTMs of FOXP3 are potential targets to modulate FOXP3 and TregFOXP3" side effects must be considered when inhibitors to these enzymes are used.

Keywords： Treg     Forkhead box P3 (FOXP3)     Post-translational modification     Autoimmune     Cancer    

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

Frontiers of Medicine 2022, Volume 16, Issue 4,   Pages 551-573 doi: 10.1007/s11684-022-0928-z

Abstract: We also present the advances in the pathological and molecular mechanisms of HCC BM to shed light on translational

Keywords： HCC     bone     osteotropism     clinical     basic researches     advances    

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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: Seven-degree-of-freedom redundant manipulators with link offset have many advantages, including obvious geometric significance and suitability for configu-ration control. Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese Space Station Remote Manipulator System. However, finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult. This study proposes a high-precision, semi-analytical inverse method for EMMs. Firstly, the analytical inverse kinematic solution is established based on joint angle parameterization. Secondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulator is derived based on arm angle parameterization. The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator. Thirdly, the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization. After selecting the stride and termination condition, the precise inverse solution is computed for the EMM based on arm angle parameterization. Lastly, case solutions confirm that this method has high precision, and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

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

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Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 4,   Pages 421-425 doi: 10.1007/s11465-008-0063-9

Abstract: closed loop PI control system is designed to achieve high position accuracy during the control of a two-DOF

Keywords： settling     position accuracy     PI control     control algorithm     orthogonal    

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Reverse driving character of 2-DOF closed chain haptic device

GUO Wei-dong, GUO Xin, ZHANG Yu-ru

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 356-359 doi: 10.1007/s11465-006-0029-8

Abstract: This article mainly investigates the problem of 2-DOF haptic device design f
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Conceptual design of compliant translational joints for high-precision applications

Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 331-343 doi: 10.1007/s11465-014-0321-y

Abstract:

Compliant translational joints (CTJs) have been extensively used in precision engineering and microelectromechanical

Keywords： compliant mechanisms     translational joints     conceptual design     parallelogram     straight-line motion     combination    

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

Hongmei Xu, Xuetao Cao

Frontiers of Medicine 2011, Volume 5, Issue 4,   Pages 323-332 doi: 10.1007/s11684-011-0172-4

Abstract:
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A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 109-119 doi: 10.1007/s11465-012-0323-6

Abstract: The results show that the effect of the gravity and friction is to translational act on the capacity

Keywords： working capacity     multi-DOF manipulator     capacity polytope     excavating mechanism    

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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

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 3,   Pages 221-232 doi: 10.1007/s11465-015-0347-9

Abstract:

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.

Keywords： harvest     mechanisms     one DOF     vibration    

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

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0695-1

Abstract: This study presents a family of novel translational parallel mechanisms (TPMs) with single-loop topologicalThe workspace of the 3-CRR (C denotes the cylindrical joint and R denotes the revolute joint) translational

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

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Title Author Date Type Operation

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

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Journal Article

Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

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

LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Journal Article

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

ZHAI Wenjie, LIU Changxiong, LIANG Yingchun

Journal Article

FOXP3 and Its Cofactors as Targets of Immunotherapies

Yasuhiro Nagai,Lian Lam,Mark I. Greene,Hongtao Zhang

Journal Article

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

Journal Article

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

Journal Article

Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

Journal Article

Reverse driving character of 2-DOF closed chain haptic device

GUO Wei-dong, GUO Xin, ZHANG Yu-ru

Journal Article

Conceptual design of compliant translational joints for high-precision applications

Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG

Journal Article

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

Hongmei Xu, Xuetao Cao

Journal Article

A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

Journal Article

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

Journal Article

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

Journal Article