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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 actuated manipulatormechanism is presented to achieve the spherical wrist design, which consists of two parallel linear hydraulicThe 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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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: Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese SpaceStation Remote Manipulator System.the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulatorEMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator

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

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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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Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 150-162 doi: 10.1007/s11465-012-0325-4

Abstract:

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a

Keywords： spherical parallel manipulator (SPM)     anastomosis     haptic     motion capture     optimization     workspace     dexterity    

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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 of

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

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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 combining

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

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Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0743-x

Abstract: investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallel manipulatorThe direct kinematic problem of the manipulator yields a quartic polynomial equation.

Keywords： planar parallel manipulator     assembly changing motions     cusp points     quartic polynomial     discriminant    

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A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 336-340 doi: 10.1007/s11465-006-0033-z

Abstract: proposed planning system is composed of several separate fuzzy units, which control individually each manipulatorinfluence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulator

Keywords： manipulator     repelling influence     manipulator configuration     three-degree industrial     simulation    

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 2,   Pages 198-210 doi: 10.1007/s11465-015-0335-0

Abstract: Highlighting the authors’ research achievements in the domain of manipulator design and control

Keywords： robot control     robust and nonlinear control     adaptive control     intelligent control     industrial manipulators     robotic arm    

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Multiobjective trajectory optimization of intelligent electro-hydraulic shovel

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0706-2

Abstract: consumption, execution time, and excavation volume as the objective functions is presented for the electro-hydraulic

Keywords： trajectory planning     electro-hydraulic shovel     cubic polynomial S-curve     multiobjective optimization    

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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: paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulatoronly walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulatorThe method for choosing six non-redundant actuated joints for the parallel manipulator from all twelveThe inverse and forward displacement analysis of the parallel manipulator is carried out using the method

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

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Effects of slip length and hydraulic diameter on hydraulic entrance length of microchannels with superhydrophobic

Wenchi GONG, Jun SHEN, Wei DAI, Zeng DENG, Xueqiang DONG, Maoqiong GONG

Frontiers in Energy 2020, Volume 14, Issue 1,   Pages 127-138 doi: 10.1007/s11708-020-0661-8

Abstract: This paper investigated effects of slip length and hydraulic diameter on the hydraulic entrance lengthIt is found that superhydrophobic microchannels have a longer hydraulic entrance length than that ofThe dimensionless hydraulic entrance length slightly increases with the increasing slip length at approximatelyRe<10, and does not vary with the hydraulic diameter.

Keywords： laminar flow     hydraulic entrance length     super hydrophobic surface     slip length     hydraulic diameter    

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Modelling the thresholds of nitrogen/phosphorus concentration and hydraulic retention time for bloom

Frontiers of Environmental Science & Engineering 2022, Volume 16, Issue 10, doi: 10.1007/s11783-022-1564-1

Abstract:

● A new model for bloom control in open land scape water was constructed.

Keywords： Reclaimed water landscape     Algal bloom     Nitrogen and phosphorus     Hydraulic retention time     Threshold    

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Hydromechanical model for hydraulic fractures using XFEM

Bo HE

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 1,   Pages 240-249 doi: 10.1007/s11709-018-0490-6

Abstract: In this study, a hydromechanical model for fluid flow in fractured porous media is presented. We assume viscous fluids and the coupling equations are derived from the mass and momentum balance equations for saturated porous media. The fluid flow through discrete cracks will be modelled by the extended finite element method and an implicit time integration scheme. We also present a consistent linearization of the underlying non-linear discrete equations. They are solved by the Newton-Raphson iteration procedure in combination with a line search. Furthermore, the model is extended to includes crack propagation. Finally, examples are presented to demonstrate the versatility and efficiency of this two-scale hydromechanical model. The results suggest that the presence of the fracture in a deforming, porous media has great impact on the fluid flow and deformation patterns.

Keywords： multi-phase medium     porous     fracture     multi-scale method    

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Review of fluid and control technology of hydraulic wind turbines

Maolin CAI, Yixuan WANG, Zongxia JIAO, Yan SHI

Frontiers of Mechanical Engineering 2017, Volume 12, Issue 3,   Pages 312-320 doi: 10.1007/s11465-017-0433-2

Abstract:

This study examines the development of the fluid and control technology of hydraulic wind turbinesThe current state of hydraulic wind turbines as a new technology is described, and its basic fluid modelFinally, the advantages of hydraulic wind turbines are enumerated.Hydraulic wind turbines are expected to become the main development direction of wind turbines.

Keywords： wind turbine     hydraulic system     fluid model     control technology    

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Title Author Date Type Operation

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

Journal Article

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

Journal Article

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

Baochen WEI, Feng GAO

Journal Article

Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Journal Article

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

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

Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Journal Article

A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Journal Article

A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Journal Article

Multiobjective trajectory optimization of intelligent electro-hydraulic shovel

Journal Article

Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Journal Article

Effects of slip length and hydraulic diameter on hydraulic entrance length of microchannels with superhydrophobic

Wenchi GONG, Jun SHEN, Wei DAI, Zeng DENG, Xueqiang DONG, Maoqiong GONG

Journal Article

Modelling the thresholds of nitrogen/phosphorus concentration and hydraulic retention time for bloom

Journal Article

Hydromechanical model for hydraulic fractures using XFEM

Bo HE

Journal Article

Review of fluid and control technology of hydraulic wind turbines

Maolin CAI, Yixuan WANG, Zongxia JIAO, Yan SHI

Journal Article