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Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 120-134 doi: 10.1007/s11465-012-0321-8

Abstract:

In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the directkinematics and to increase the operational, i.e., singularity-free, workspace is demonstrated.

Keywords： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 4,   Pages 379-385 doi: 10.1007/s11465-009-0075-0

Abstract: Singularity analysis plays an important role in the design of robots, especially for parallel robots.Singularity loci in the joint space and Cartesian space are plotted according to the Jacobin of the mechanismResult shows that the singularity loci at the joint space are two circles and one line, whereas at the

Keywords： 2-DOF orthogonal spherical parallel mechanism     singularity loci     self-motions    

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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Engineering doi: 10.1016/j.eng.2023.07.018

Abstract: functions, resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidanceIn addition, owing to the strong time-varying dynamic characteristics of obstacle avoidance scenariosTherefore, an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenariosmodel is constructed by combining the key driving scenario information that affects vehicle obstacle avoidancewith the weight of the optimization function, and an anthropomorphic obstacle avoidance trajectory planning

Keywords： Obstacle avoidance trajectory planning     Inverse reinforcement theory     Anthropomorphic     Adaptive driving    

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Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 210-218 doi: 10.1007/s11465-012-0317-4

Abstract: Finally, the method for avoidance of possible parasitic motions is presented by adding redundantly actuated

Keywords： parallel mechanism     3-UPU (universal-prismatic-universal joint)     parasitic motions     limited clearance     redundantly actuated limbs    

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The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Strategic Study of CAE 2003, Volume 5, Issue 5,   Pages 70-75

Abstract:

An obstacle avoidance strategy for mobile robot is presented based on obstacle position and size informationFurthermore, rational robot paths in obstacle avoidance are discussed in detail, which leads to the final

Keywords： mobile robot     ultrasonic sensor     obstacle avoidance     path planning     optimal path    

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Implementation of sinh method in integration space for boundary integrals with near singularity in potential

Guizhong XIE,Dehai ZHANG,Jianming ZHANG,Fannian MENG,Wenliao DU,Xiaoyu WEN

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 4,   Pages 412-422 doi: 10.1007/s11465-016-0396-8

Abstract: However, boundary integrals with near singularity need to be calculated accurately and efficiently toif the location of the projection point is outside the element, where boundary integrals with near singularityResults demonstrate that our method is effective for regularizing the boundary integrals with near singularity

Keywords： computer aided engineering (CAE)     boundary element method (BEM)     near singularity     sinh method     coordinate    

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The nonlinear singularity phenomenon of low frequency oscillation in power system

Ma Jinglan,Wang Wei,Wan Jingsheng,Zhang Yongli

Strategic Study of CAE 2009, Volume 11, Issue 8,   Pages 93-96

Abstract: reason that causes LFO is discussed.With Hopf bifurcation theory, it is analyzed that the nonlinear singularityThe study indicates that because of the Hopf bifurcation, singularity phenomenon in the power system

Keywords： LFO     bifurcation theory     nonlinear     singularity    

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Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 70-79 doi: 10.1007/s11465-013-0365-4

Abstract: An in-depth study of different types of singularity is performed, allowing the development of safe control

Keywords： parallel robot     minimally invasive surgery     kinematics     simulation    

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Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 163-187 doi: 10.1007/s11465-012-0324-5

Abstract: Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently

Keywords： parallel manipulator     schoenflies motion     kinematics     singularity     workspace     performance index    

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Finite element analysis of stress concentrations and failure criteria in composite plates with circular holes

Abdelhak KHECHAI,Abdelouahab TATI,Abdelhamid GUETTALA

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 3,   Pages 281-294 doi: 10.1007/s11465-014-0307-9

Abstract:

In this study, the stress concentration factors (SCF) in cross-and-angle-ply laminated composite plates as well as in isotropic plates with single circular holes subjected to uniaxial loading is studied. A quadrilateral finite element of four-node with 32 degrees of freedom at each node, previously developed for the bending and mechanical buckling of laminated composite plates, is used to evaluate the stress distribution in laminated composite plates with central circular holes. Based up on the classical plate theory, the present finite element is a combination of a linear isoparametric membrane element and a high precision rectangular Hermitian element. The numerical results obtained by the present element compare favorably with those obtained by the analytic approaches published in literature. It is observed that the obtained results are very close to the reference results, which demonstrates the accuracy of the present element. Additionally, to determine the first ply failure (FPF) of laminated plate, several failure criterions are employed. Finally, to show the effect of ratio on the failure of plates, a number of figures are given for different fiber orientation angles.

Keywords： laminated composite plates     stress concentration     geometric singularity     anisotropic effect    

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Eversible duoprism mechanism

Ruiming LI,Yan-An YAO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 159-169 doi: 10.1007/s11465-016-0398-6

Abstract: Six inputs, including a redundant one, are required to overcome singularity and achieve an eversion motion

Keywords： duoprism     eversion motion     singularity     over-constrained    

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Self-motions of 3-RPS manipulators

Josef SCHADLBAUER, Manfred L. HUSTY, Stéphane CARO, Philippe WENGERY

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 62-69 doi: 10.1007/s11465-013-0366-3

Abstract:

Recently a complete kinematic description of the 3-RPS parallel manipulator was obtained using algebraic constraint equations. It turned out that the workspace splits into two components describing two kinematically different operation modes. In this paper the algebraic description is used to give a complete analysis of all possible self-motions of this manipulator in both operation modes. Furthermore it is shown that a transition from one operation mode into the other in a self-motion is possible.

Keywords： 3-RPS-manipulator     singularity     self-motion    

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Multifractal characteristics of cylindrical sludge drying

Weiyun WANG, Aimin LI,

Frontiers of Environmental Science & Engineering 2009, Volume 3, Issue 4,   Pages 464-469 doi: 10.1007/s11783-009-0040-5

Abstract: The parameters acquired were used to calculate the multifractal singularity spectrum and indicate the

Keywords： multifractal characteristic     multifractal singularity spectrum     sewage sludge drying    

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Using improved particle swarm optimization totune PID controllers in cooperative collision avoidance Article

Xing-chen WU, Gui-he QIN, Ming-hui SUN, He YU, Qian-yi XU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 9,   Pages 1385-1395 doi: 10.1631/FITEE.1601427

Abstract: The introduction of proportional-integral-derivative (PID) controllersinto cooperative collision avoidanceimproved particle swarm optimization (PSO) algorithm, and to bettermanipulate cooperative collision avoidance

Keywords： Cooperative collision avoidance system (CCAS)     Improved particle swarm optimization (PSO)     PID controller    

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A novel motion coordination method for variable-sized multi-mobile robots Research Article

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 4,   Pages 521-535 doi: 10.1631/FITEE.2200160

Abstract: s (MMRSs) are widely used for transportation in industrial scenes such as manufacturing and warehousing. In an MMRS, is important as collisions and deadlocks may lead to losses or system stagnation. However, in some scenarios, robot sizes are different when loaded and unloaded, which means that the robots are variable-sized, making more difficult. The methods based on zone control need to first divide the environment into disjoint zones, and then allocate the zones statically or dynamically for . The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system. This paper describes a method based on , which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots. Dynamic features make this method directly applicable to various scenarios, instead of dividing a roadmap into disjoint zones. The proposed method has been applied to many industrial projects, and this study is based on some manufacturing projects for experiments. Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.

Keywords： Multi-mobile robot system     Collision avoidance     Deadlock avoidance     Glued nodes     Motion coordination    

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Title Author Date Type Operation

Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Journal Article

Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Journal Article

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Journal Article

Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Journal Article

The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Journal Article

Implementation of sinh method in integration space for boundary integrals with near singularity in potential

Guizhong XIE,Dehai ZHANG,Jianming ZHANG,Fannian MENG,Wenliao DU,Xiaoyu WEN

Journal Article

The nonlinear singularity phenomenon of low frequency oscillation in power system

Ma Jinglan,Wang Wei,Wan Jingsheng,Zhang Yongli

Journal Article

Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

Journal Article

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Journal Article

Finite element analysis of stress concentrations and failure criteria in composite plates with circular holes

Abdelhak KHECHAI,Abdelouahab TATI,Abdelhamid GUETTALA

Journal Article

Eversible duoprism mechanism

Ruiming LI,Yan-An YAO

Journal Article

Self-motions of 3-RPS manipulators

Josef SCHADLBAUER, Manfred L. HUSTY, Stéphane CARO, Philippe WENGERY

Journal Article

Multifractal characteristics of cylindrical sludge drying

Weiyun WANG, Aimin LI,

Journal Article

Using improved particle swarm optimization totune PID controllers in cooperative collision avoidance

Xing-chen WU, Gui-he QIN, Ming-hui SUN, He YU, Qian-yi XU

Journal Article

A novel motion coordination method for variable-sized multi-mobile robots

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Journal Article