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Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 295-307 doi: 10.1007/s11465-014-0317-7

Abstract: The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelveoptional joints is elaborated.

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

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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: This study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated1R PRRR-1S PU mechanism (“R”, “P”, “S”, and “U” denote revolute, prismatic, spherical, and universal joints

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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Preload characteristics identification of the piezoelectric-actuated 1-DOF compliant nanopositioning

Ruizhou WANG, Xianmin ZHANG

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1,   Pages 20-36 doi: 10.1007/s11465-015-0328-z

Abstract:

Packaged piezoelectric ceramic actuators (PPCAs) and compliant mechanisms are attractive for nanopositioning and nanomanipulation due to their ultra-high precision. The way to create and keep a proper and steady connection between both ends of the PPCA and the compliant mechanism is an essential step to achieve such a high accuracy. The connection status affects the initial position of the terminal moving plate, the positioning accuracy and the dynamic performance of the nanopositioning platform, especially during a long-time or high-frequency positioning procedure. This paper presents a novel external preload mechanism and tests it in a 1-degree of freedom (1-DOF) compliant nanopositioning platform. The 1-DOF platform utilizes a parallelogram guiding mechanism and a parallelogram load mechanism to provide a more accurate actual input displacement and output displacement. The simulation results verify the proposed stiffness model and dynamic model of the platform. The values of the preload displacement, actual input displacement and output displacement can be measured by three capacitive sensors during the whole positioning procedure. The test results show the preload characteristics vary with different types or control modes of the PPCA. Some fitting formulas are derived to describe the preload displacement, actual input displacement and output displacement using the nominal elongation signal of the PPCA. With the identification of the preload characteristics, the actual and comprehensive output characteristics of the PPCA can be obtained by the strain gauge sensor (SGS) embedded in the PPCA.

Keywords： nanopositioning     preload characteristic     packaged piezoelectric ceramic actuator     compliant mechanism    

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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 ofThe linkage lengths and the position of the universal joints of the RAPM are optimized based on the dimensionally

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

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Piezoelectric film-actuated motion platform with high resolution

HUA Shunming, ZHANG Hongzhuang, CHENG Guangming, FAN Zunqiang, LIU Jianfang

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 3,   Pages 265-269 doi: 10.1007/s11465-008-0041-2

Abstract: A piezoelectric film-actuated motion platform with high resolution, which can run in two directions within

Keywords： mathematical     stick-slip mechanism     piezoelectric film-actuated     analysis     terrific    

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Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 184-194 doi: 10.1007/s11465-016-0385-y

Abstract:

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conductingThe finger is actuated by a flexion tendon and an extension tendon.

Keywords： tendon-driven fingers     mechanical finger design     under-actuated mechanical systems    

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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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Discontinuous mechanical behaviors of existing shield tunnel with stiffness reduction at longitudinal joints

Frontiers of Structural and Civil Engineering 2023, Volume 17, Issue 1,   Pages 37-52 doi: 10.1007/s11709-022-0920-3

Abstract: The existing shield tunnel is regarded as a Timoshenko beam with longitudinal joints.The opening and relative dislocation of the longitudinal joints can be calculated using Dirac delta functionsThe effects of the stiffness reduction at the longitudinal joints (α and β), the shearingfor simulating the discontinuous mechanical behaviors of existing shield tunnels with longitudinal jointsIn addition, the joints allow rigid structures to behave flexibly in general, as well as allow flexible

Keywords： tunnel–soil interaction     discontinuous analysis     longitudinal joints     existing shield tunnel     Timoshenko    

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Seismic behavior experimental study of frame joints with special-shaped column and dispersed steel bar

Shuchun LI, Bo DIAO, Youpo SU,

Frontiers of Structural and Civil Engineering 2009, Volume 3, Issue 4,   Pages 378-383 doi: 10.1007/s11709-009-0064-8

Abstract: flame joint with special-shaped beam and column, mechanical performance of three groups of six RC flame jointsThe seismic behaviors of the joints with different proportions of dispersed-steel-bar beams were analyzedThe results of experimental analysis indicate that the mechanical and seismic behaviors of frame joints

Keywords： beam with dispersed steel bar     flame joints with special-shaped beam and column     seismic behavior     scale    

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A novel shape memory alloy actuated soft gripper imitated hand behavior

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0700-8

Abstract: The stress-strain model of SMA spring was established for the selection of rigid spring.

Keywords： shape memory alloy (SMA)     pre bent     wire     gripper     grasping mode     lightweight    

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Review on ranking and selection: A new perspective

L. Jeff HONG, Weiwei FAN, Jun LUO

Frontiers of Engineering Management 2021, Volume 8, Issue 3,   Pages 321-343 doi: 10.1007/s42524-021-0152-6

Abstract: In this paper, we briefly review the development of ranking and selection (R&S) in the past 70 years,

Keywords： ranking and selection     hypothesis testing     dynamic programming     simulation    

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Structural design of morphing trailing edge actuated by SMA

Qi WANG, Zhiwei XU, Qian ZHU

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 3,   Pages 268-275 doi: 10.1007/s11465-013-0261-y

Abstract:

In this paper, the morphing trailing edge is designed to achieve the up and down deflection under the aerodynamic load. After a detailed and accurate computational analysis to determine the SMA specifications and layout programs, a solid model is created in CATIA and the structures of the morphing wing trailing edge are produced by CNC machining. A set of DSP measurement and control system is designed to accomplish the controlling experiment of the morphing wing trailing edge. At last, via the force analysis, the trailing edge is fabricated with four sections of aluminum alloy, and the arrangement scheme of SMA wires is determined. Experiment of precise control integral has been performed to survey the control effect. The experiment consists of deflection angle tests of the third joint and the integral structure. Primarily, the ultimate deflection angle is tested in these two experiments. Therefore, the controlling experiment of different angles could be performed within this range. The results show that the deflection error is less than 4% and response time is less than 6.7 s, the precise controlling of the morphing trailing edge is preliminary realized.

Keywords： morphing wing trailing edge     shape memory alloy     digital signal processor     PID algorithm    

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Experimental and numerical analysis of beam to column joints in steel structures

Gholamreza ABDOLLAHZADEH, Seyed Mostafa SHABANIAN

Frontiers of Structural and Civil Engineering 2018, Volume 12, Issue 4,   Pages 642-661 doi: 10.1007/s11709-017-0457-z

Abstract: The behaviors such as extreme non-elastic response, constant changes in roughness and resistance, as well as formability under extreme loads such as earthquakes are the primary challenges in the modeling of beam-to-column connections. In this research, two modeling methods including mechanical and neural network methods have been presented in order to model the complex hysteresis behavior of beam-to-column connections with flange plate. First, the component-based mechanical model will be introduced in which every source of transformation has been shown only with geometrical and material properties. This is followed by the investigation of a neural network method for direct extraction of information out of experimental data. For the validation of behavioral curves as well as training of the neural network, the experiments were carried out on samples with real dimensions of beam-to-column connections with flange plate in the laboratory. At the end, the combinational modeling framework is presented. The comparisons reveal that the combinational modeling is able to display the complex narrowed hysteresis behavior of the beam-to-column connections with flange plate. This model has also been successfully employed for the prediction of the behavior of a newly designed connection.

Keywords： beam to column connections     experiments     component method     neural network model     combinational modeling    

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Weakening behavior of waterproof performance in joints of shield tunnels under adjacent constructions

Frontiers of Structural and Civil Engineering   Pages 884-900 doi: 10.1007/s11709-022-0912-3

Abstract: of shield tunnels frequently occurs in China, leading to deformation of tunnel lining and leakage in jointsIn this study, the weakening behavior of waterproof performance was investigated in the joints of shieldIt was determined that the joints with the greatest decline in waterproof performance were located atWhen the waterproof performance of these joints decreased to 50% and 30%, the transverse deformations

Keywords： shield tunnel     waterproof performance     horizontal transverse deformation     joint opening     weakening behavior    

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Control mode selection for modal control of long-span arch bridge

Zhengying LI, Zhengliang LI,

Frontiers of Structural and Civil Engineering 2009, Volume 3, Issue 4,   Pages 401-406 doi: 10.1007/s11709-009-0052-z

Abstract: As for the critical mode selection, an approach based on the maximum modal displacement was presented

Keywords： selection     reduced-order     excitation     long-span     simplified    

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Title Author Date Type Operation

Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Journal Article

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

Journal Article

Preload characteristics identification of the piezoelectric-actuated 1-DOF compliant nanopositioning

Ruizhou WANG, Xianmin ZHANG

Journal Article

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

Journal Article

Piezoelectric film-actuated motion platform with high resolution

HUA Shunming, ZHANG Hongzhuang, CHENG Guangming, FAN Zunqiang, LIU Jianfang

Journal Article

Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

Journal Article

Conceptual design of compliant translational joints for high-precision applications

Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG

Journal Article

Discontinuous mechanical behaviors of existing shield tunnel with stiffness reduction at longitudinal joints

Journal Article

Seismic behavior experimental study of frame joints with special-shaped column and dispersed steel bar

Shuchun LI, Bo DIAO, Youpo SU,

Journal Article

A novel shape memory alloy actuated soft gripper imitated hand behavior

Journal Article

Review on ranking and selection: A new perspective

L. Jeff HONG, Weiwei FAN, Jun LUO

Journal Article

Structural design of morphing trailing edge actuated by SMA

Qi WANG, Zhiwei XU, Qian ZHU

Journal Article

Experimental and numerical analysis of beam to column joints in steel structures

Gholamreza ABDOLLAHZADEH, Seyed Mostafa SHABANIAN

Journal Article

Weakening behavior of waterproof performance in joints of shield tunnels under adjacent constructions

Journal Article

Control mode selection for modal control of long-span arch bridge

Zhengying LI, Zhengliang LI,

Journal Article