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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.excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional

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

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    

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    

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    

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: Based 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-DOFhumanoid manipulator constitute the fitness function of HBBO.The 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    

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    

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

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: manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulatorThis study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuatedmanipulator with a novel roll–pitch–yaw spherical wrist.spherical, and universal joints, respectively; the underlined letter indicates the active joint), the 2-DOFThe 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    

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    

Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 4,   Pages 357-370 doi: 10.1007/s11465-012-0340-5

Abstract: operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOFA prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM

Keywords: biped robots     leg mechanisms     simulation    

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    

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 aA multi objective optimization procedure based on genetic algorithms was then carried out to find the

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

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    

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: This paper presents a novel external preload mechanism and tests it in a 1-degree of freedom (1-DOF)The 1-DOF platform utilizes a parallelogram guiding mechanism and a parallelogram load mechanism to provide

Keywords: nanopositioning     preload characteristic     packaged piezoelectric ceramic actuator     compliant mechanism    

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    

Title Author Date Type Operation

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

Baochen WEI, Feng GAO

Journal Article

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

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

Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

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

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

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

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

Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

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

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

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

Ruizhou WANG, Xianmin ZHANG

Journal Article

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

Journal Article