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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 obviousTheir configuration is similar to that of the experimental module manipulator (EMM) in the Chinese SpaceStation Remote Manipulator System.Secondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundantmanipulator is derived based on arm angle parameterization.

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

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Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 45-60 doi: 10.1007/s11465-011-0205-3

Abstract:

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed.., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module.The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetricA research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate

Keywords： anthropomimetic design     robotic arm     cable-driven mechanism     kinematic analysis     design optimization    

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

Zi-wu REN,Zhen-hua WANG,Li-ning SUN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 7,   Pages 607-616 doi: 10.1631/FITEE.14a0335

Abstract: The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex jointBased on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an exampleThe end-effector error (position and orientation) and the ‘away limitation level’ value of the 8-DOFThe proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundanthumanoid manipulator.

Keywords： Inverse kinematics problem     8-DOF humanoid manipulator     Biogeography-based optimization (BBO)     Differential    

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

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

Abstract: The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructuredareas is increasing; however, current manipulator layouts that remarkably differ from human arms makeThis study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuatedmanipulator with a novel roll–pitch–yaw spherical wrist.The 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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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.

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

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Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 46-60 doi: 10.1007/s11465-020-0606-2

Abstract: A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combiningLastly, the optimal structure parameters of the proposed 5-DOF HPM are determined.

Keywords： 5-DOF hybrid manipulator     reconfigurable base     large workspace     dimensional synthesis     optimal design    

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Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 451-467 doi: 10.1007/s11465-021-0634-6

Abstract: A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees ofIn this paper, a means to achieve redundant actuation by adding kinematic constraints is introduced,

Keywords： redundant actuation     parallel manipulator     linkage–cam mechanism     Jacobian     optimal design    

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Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 1,   Pages 66-80 doi: 10.1007/s11465-019-0570-x

Abstract: In order to construct 2D rotational degrees of freedom (DOF), a platform with 2-dimension revolute jointsIn order to provide constant rotational axis for the platform, a class of redundant limbs are designedA class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with theplatform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion.The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational

Keywords： parallel mechanism     redundant mechanism     large rotational angles     machine tools     2R1T spindle head     collaborativemanipulator    

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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-DOFthe end-effector within the required range; they may also be helpful while calibrating this kind of manipulator

Keywords： centerline     stiffness     effective     manipulator     precision    

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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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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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Resistance of large deformation of the Wushaoling Tunnel F7 soft fault

ZHAO Xufeng, CHEN Haiming, WANG Chunmiao

Frontiers of Structural and Civil Engineering 2007, Volume 1, Issue 1,   Pages 123-127 doi: 10.1007/s11709-007-0013-3

Abstract: In this article, the mechanical characteristics of the squeeze of the F7 fault of the Wushaoling Tunnel

Keywords： F7     deformation     appropriate     construction     mechanical    

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China Engineering Science 2005 Volume 7 Contents

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Strategic Study of CAE 2005, Volume 7, Issue 12,   Pages 98-102

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Acid Orange 7 degradation using methane as the sole carbon source and electron donor

Frontiers of Environmental Science & Engineering 2022, Volume 16, Issue 3, doi: 10.1007/s11783-021-1468-5

Abstract:

• AO7 degradation was coupled with anaerobic methane oxidation.

Keywords： Azo dyes     AO7 degradation     Anaerobic methane oxidation     Microbial community     ANME-2d    

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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

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Journal Article

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

Zi-wu REN,Zhen-hua WANG,Li-ning SUN

Journal Article

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

Journal Article

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

Baochen WEI, Feng GAO

Journal Article

Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Journal Article

Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Journal Article

Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

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

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

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

Resistance of large deformation of the Wushaoling Tunnel F7 soft fault

ZHAO Xufeng, CHEN Haiming, WANG Chunmiao

Journal Article

China Engineering Science 2005 Volume 7 Contents

null

Journal Article

Acid Orange 7 degradation using methane as the sole carbon source and electron donor

Journal Article