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Analysis of Characteristics and CMAC Neural Networks Controller of Electrohydraulic Servo System of the 6-DOFDOF Paralle Platform

Zhai Chuanrun,ZhanXingqun,Zhang Yanhua,Ran Xianglai,Zhao Keding

Strategic Study of CAE 2001, Volume 3, Issue 10,   Pages 36-40

Abstract:

This paper analyzed the kinematics and dynamics of the 6-DOF platform, and adopted CMAC Neural Networks

Keywords： 6-DOF in-parallel platform     CMAC neural network     kinematics     kinetics    

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Kinematic calibration of precise 6-DOF stewart platform-type positioning systems for radio telescope

Juan Carlos JáUREGUI, Eusebio E. HERNáNDEZ, Marco CECCARELLI, Carlos LóPEZ-CAJúN, Alejandro GARCíA

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 3,   Pages 252-260 doi: 10.1007/s11465-013-0249-7

Abstract:

The pose accuracy of a parallel robot is a function of the mobile platform posture.In this paper, two novel methods for estimating the accuracy of parallel robots are presented.An example of a six degree-of-freedom parallel manipulator is included to show the application of the

Keywords： pose errors     error estimation     parallel robot     radio telescopes    

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A rolling 6U parallel mechanism

Zhihuai MIAO, Yanan YAO

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 96-98 doi: 10.1007/s11465-011-0214-2

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Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurablemoving platform

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 765-781 doi: 10.1007/s11465-021-0655-1

Abstract: Generalized parallel mechanisms with a configurable moving platform have become popular in the researchfield of parallel mechanism.translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallelmechanisms with a configurable moving platform.First, the configurable moving platform, which is a closed loop, is designed for grasping manipulation

Keywords： generalized parallel mechanism     configurable moving platform     gripper mechanism     type synthesis     kinematic    

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Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 4,   Pages 379-385 doi: 10.1007/s11465-009-0075-0

Abstract: Singularity analysis plays an important role in the design of robots, especially for parallel robots.In this paper, the direct and inverse kinematics of an orthogonal spherical two-degree-of-freedom parallelSelf-motions, which are different from the general spherical 5 parallel mechanisms, are also discussed

Keywords： 2-DOF orthogonal spherical parallel mechanism     singularity loci     self-motions    

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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-, platformFor various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximumstiffness over the entire workspace is studied; and also the deflections of the tool platform along&

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

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High End Computing Software Platform R & D

Chen Zuoning

Strategic Study of CAE 2002, Volume 4, Issue 9,   Pages 45-49

Abstract:

High end computing software platform is the basic guarantee for implementing the friendship, availabilityscale and the emerging of new computing patterns, such as Peer-to-peer and Grid, the design of software platformThis paper describes and analyses the development of high end computing software platform and the designingThen the design case of a certain high end computing platform software system will be introduced and

Keywords： high end computing     MPP     OS     parallel development environment     parallel application environment    

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Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive Article

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 3,   Pages 303-316 doi: 10.1631/FITEE.1500353

Abstract: A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed.To prevent any influence caused by the load applied to the moving platform changing in a practical working

Keywords： Parameter initialization     Adaptive robust control     Parallel mechanism     Pneumatic cylinders    

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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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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:

Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.

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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Study on Semi-active Control of Multi-dim Damping Platform Based on Parallel Mechanism and MR Damper

Zhu Wei,Ma Lüzhong,Chen Xiuxiang,Wu Weiguang,Xie Jun

Strategic Study of CAE 2007, Volume 9, Issue 11,   Pages 63-67

Abstract:  A kind of three-translation parallel mechanism is used as main mechanism of multi-dim damping,

Keywords： parallel mechanism     multi-dim damping     MR damper     semi-active control    

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The CatMath: an online predictive platform for thermal + electrocatalysis

Frontiers of Chemical Science and Engineering 2023, Volume 17, Issue 12,   Pages 2156-2160 doi: 10.1007/s11705-023-2371-3

Abstract: Herein, we introduce the CatMath—an online platform for generating a variety of common and industrially

Keywords： CatMath     catalysis     volcano activity plots     Surface Pourbaix Diagrams     online platform    

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Title Author Date Type Operation

Analysis of Characteristics and CMAC Neural Networks Controller of Electrohydraulic Servo System of the 6-DOFDOF Paralle Platform

Zhai Chuanrun,ZhanXingqun,Zhang Yanhua,Ran Xianglai,Zhao Keding

Journal Article

Kinematic calibration of precise 6-DOF stewart platform-type positioning systems for radio telescope

Juan Carlos JáUREGUI, Eusebio E. HERNáNDEZ, Marco CECCARELLI, Carlos LóPEZ-CAJúN, Alejandro GARCíA

Journal Article

A rolling 6U parallel mechanism

Zhihuai MIAO, Yanan YAO

Journal Article

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurablemoving platform

Journal Article

Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Journal Article

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

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Journal Article

High End Computing Software Platform R & D

Chen Zuoning

Journal Article

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

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

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

Study on Semi-active Control of Multi-dim Damping Platform Based on Parallel Mechanism and MR Damper

Zhu Wei,Ma Lüzhong,Chen Xiuxiang,Wu Weiguang,Xie Jun

Journal Article

The CatMath: an online predictive platform for thermal + electrocatalysis

Journal Article