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Inverse Kinematics Analysis of General 6R Serial Robot Mechanism Based on Groebner Base

WANG Yan, HANG Lu-bin, YANG Ting-li

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1,   Pages 115-124 doi: 10.1007/s11465-005-0022-7

Abstract:

This study presents a solution for the inverse kinematics problem in serial 6R manipulator.angles identical equations instead of the traditional 14 equations, the authors reduced the inverse kinematics

Keywords: identical     manipulator     univariate polynomial     mechanism     traditional    

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

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: of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematicsThe inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization) is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematicsThe proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant

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

Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics

Fugui XIE,Xin-Jun LIU

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 135-143 doi: 10.1007/s11465-016-0389-7

Abstract: Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigatedThe mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study

Keywords: parallel robot     mobility     inverse kinematics     singularity     transmission performance    

General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0681-7

Abstract: The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblemsHowever, the simple combination of subproblems cannot solve all the inverse kinematics problems, andThe novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics forThe inverse kinematics simulations of all three-joint subproblems are implemented, and simulation resultsThe results verify the proposed general closed-form inverse kinematics based on the NAG methods.

Keywords: inverse kinematics     Paden–Kahan subproblems     three-joint subproblems     product of exponential     closed-form    

Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Yue WANG, Jingjun YU, Xu PEI

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 3,   Pages 368-375 doi: 10.1007/s11465-018-0519-5

Abstract:

A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: SphericalThis novel forward kinematics algorithm is well suited for real-time and high-precision control of the

Keywords: 3-RPS parallel mechanism     forward kinematics     numerical algorithm     parasitic motion    

Generation of closed-form inverse kinematics for reconfigurable robots

ZHAO Jie, WANG Weizhong, GAO Yongsheng, CAI Hegao

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 1,   Pages 91-96 doi: 10.1007/s11465-008-0013-6

Abstract: For reconfigurable robots, the automatic generation of inverse kinematics is a key problem, because suchIn this paper, the screw and product-of-exponentials (POE) formula are used to model the kinematics ofA generalized, decomposable, and reusable approach for close-form inverse kinematics of reconfigurable

Keywords: different     effectiveness     generation     reconfigurable     algebraic    

Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool

JIA Dongyong, ZHANG Jianmin, SUN Hongchang, NIU Zhigang

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 235-238 doi: 10.1007/s11465-007-0041-7

Abstract: This paper analyzed the inverse kinematics for the new Parallel rotate slider- axes (PRS-) style hybridmachining tool and educed the five axes linkage inverse kinematics transform formula on the basis ofThe results of the experiments prove that the inverse kinematics transform formula is correct.

Keywords: numerical     accordance     transform formula     virtual     slider-    

An Improved BP Algorithm Applying to Inverse Kinematics Problems of Robot Manipulator

Wu Aiguo,Hao Runsheng

Strategic Study of CAE 2005, Volume 7, Issue 7,   Pages 34-38

Abstract: The multilayer forward neural networks are used to establish the inverse kinematics models for robotThe simulations demonstrate that the proposed method is effective, and improves the inverse kinematics

Keywords: neural networks     BP algorithm     active function     robot manipulator     inverse kinematics    

Oscillation frequency of simplified arterial tubes

Hui AN, Fan HE, Lingxia XING, Xiaoyang LI

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3,   Pages 300-304 doi: 10.1007/s11465-009-0038-5

Abstract: analysis is first presented and the finite element method is then used to numerically simulate the spatial kinematics

Keywords: spatial kinematics     natural frequency     finite element method    

Research on transmission principle and kinematics analysis for involute spherical gear

PAN Cun-yun, WEN Xi-sen, YANG Kun-yu, XU Xiao-jun, LIU Min, YAO Qi-shui

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 2,   Pages 183-193 doi: 10.1007/s11465-006-0010-6

Abstract: By series rotational transformation, the kinematics model and inverse kinematics model are deduced.Based on the research, the kinematics graphic simulation of spherical gear mechanism and disk rack areThe results prove correctness of the kinematics model.

Keywords: rotational transformation     orientation     Furthermore     conjugate     number    

State-of-the-art on theories and applications of cable-driven parallel robots

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0693-3

Abstract: Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace, cost and energy efficiency simultaneously. As a result, CDPRs have had irreplaceable roles in industrial and technological fields, such as astronomy, aerospace, logistics, simulators, and rehabilitation. CDPRs follow the cutting-edge trend of rigid–flexible fusion, reflect advanced lightweight design concepts, and have become a frontier topic in robotics research. This paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-force distribution, workspace and stiffness, performance evaluation, optimization, and motion control. Kinematic modeling, workspace analysis, and cable-force solution are illustrated. Stiffness and dynamic modeling methods are discussed. To further promote the development, researchers should strengthen the investigation in configuration innovation, rapid calculation of workspace, performance evaluation, stiffness control, and rigid–flexible coupling dynamics. In addition, engineering problems such as cable materials, reliability design, and a unified control framework require attention.

Keywords: cable-driven parallel robot     kinematics     optimization     dynamics     control    

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: For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planningin terms of locomotion and body kinematics analysis as a parallel manipulator.

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

Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle swarm optimization

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 3-3 doi: 10.1007/s11465-021-0659-x

Abstract: Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostate cancer diagnosis and treatment. The limited space for robot manipulation restricts structure volume and motion. In this paper, an 8-degree-of-freedom robot system is proposed for ultrasound probe manipulation, needle positioning, and needle insertion. A novel parallel structure is employed in the robot system for space saving, structural rigidity, and collision avoidance. The particle swarm optimization method based on informative value is proposed for kinematic parameter identification to calibrate the parallel structure accurately. The method identifies parameters in the modified kinematic model stepwise according to parameter discernibility. Verification experiments prove that the robot system can realize motions needed in targeting. By applying the calibration method, a reasonable, reliable forward kinematic model is built, and the average errors can be limited to 0.963 and 1.846 mm for insertion point and target point, respectively.

Keywords: ultrasound image guidance     prostate percutaneous intervention     parallel robot     kinematics identification    

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: Inverse kinematics analysis is carried out to find the slider coordinates and joint angles for a given

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

Kinematical synthesis of an inversion of the double linked fourbar for morphing wing applications

J. AGUIRREBEITIA, R. AVILéS, I. FERNáNDEZ, M. ABASOLO

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 17-32 doi: 10.1007/s11465-013-0364-5

Abstract:

This paper presents the kinematical features of an inversion of the double linked fourbar for morphing wing purposes. The structure of the mechanism is obtained using structural synthesis concepts, from an initial conceptual schematic. Then, kinematic characteristics as instant center of rotation, lock positions, dead point positions and uncertainty positions are derived for this mechanism in order to face the last step, the dimensional synthesis; in this sense, two kinds of dimensional synthesis are arranged to guide the wing along two positions, and to fulfill with the second one some aerodynamic and minimum actuation energy related issues.

Keywords: morphing wing     structural synthesis     dimensional synthesis     geometrical kinematics    

Title Author Date Type Operation

Inverse Kinematics Analysis of General 6R Serial Robot Mechanism Based on Groebner Base

WANG Yan, HANG Lu-bin, YANG Ting-li

Journal Article

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

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

Journal Article

Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics

Fugui XIE,Xin-Jun LIU

Journal Article

General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of

Journal Article

Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Yue WANG, Jingjun YU, Xu PEI

Journal Article

Generation of closed-form inverse kinematics for reconfigurable robots

ZHAO Jie, WANG Weizhong, GAO Yongsheng, CAI Hegao

Journal Article

Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool

JIA Dongyong, ZHANG Jianmin, SUN Hongchang, NIU Zhigang

Journal Article

An Improved BP Algorithm Applying to Inverse Kinematics Problems of Robot Manipulator

Wu Aiguo,Hao Runsheng

Journal Article

Oscillation frequency of simplified arterial tubes

Hui AN, Fan HE, Lingxia XING, Xiaoyang LI

Journal Article

Research on transmission principle and kinematics analysis for involute spherical gear

PAN Cun-yun, WEN Xi-sen, YANG Kun-yu, XU Xiao-jun, LIU Min, YAO Qi-shui

Journal Article

State-of-the-art on theories and applications of cable-driven parallel robots

Journal Article

Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Journal Article

Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle swarm optimization

Journal Article

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

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Journal Article

Kinematical synthesis of an inversion of the double linked fourbar for morphing wing applications

J. AGUIRREBEITIA, R. AVILéS, I. FERNáNDEZ, M. ABASOLO

Journal Article