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Loop theory and applications to some key problems of kinematic structure of kinematic chains

Huafeng DING, Zhen HUANG

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3,   Pages 276-283 doi: 10.1007/s11465-009-0061-6

Abstract: In this paper, a new loop theory of kinematic chains is proposed.computer-based automatic synthesis of mechanisms are solved. 1) The open problem of isomorphism of kinematicthe same even if the drawing modes and labeling ways of a chain are changed, and an atlas database of kinematicThe multi-value problem for the representation of kinematic chains is solved.

Keywords： Loop theory     kinematic chains     isomorphism     atlas database    

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Kinematic Model Building and Servo Parameter Identification of 3-HSS Parallel Mechanism

YANG Zhi-yong, WU Jiang, HUANG Tian, NI Yan-bing

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1,   Pages 60-66 doi: 10.1007/s11465-005-0019-2

Abstract:

Aiming at a parallel mechanism with three degrees of freedom, a method for dynamic model buildingposition, velocity, and acceleration of parallelogram branch structure are deduced, and then, its dynamic modelBased on the above model, a method to identify the servo parameter of the parallel mechanism is put up

Keywords： building     acceleration     additive     workspace     optimum performance    

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Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 3,   Pages 344-353 doi: 10.1007/s11465-011-0227-x

Abstract:

The motion dynamics and accuracy of parallel kinematic machines largely depend on the weights andemploys the techniques of topology and size optimization to design two typical rigid links of a parallel kinematic

Keywords： topology optimization     size optimization     parallel kinematic machine (PKM)    

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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 direct

Keywords： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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Error analysis and optimization 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 2,   Pages 120-129 doi: 10.1007/s11465-014-0300-3

Abstract: >In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel KinematicError modeling is done based on the differentiation of the inverse kinematic equations.X, Y and Z directions for a set of dimensions of the parallel kinematicAn attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithmspresented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic

Keywords： translational Parallel Kinematic Machine     error modeling     global error transformation index    

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A dynamic model of mobile concrete pump boom based on discrete time transfer matrix method

Wu REN, Yunxin WU, Zhaowei ZHANG

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4,   Pages 360-366 doi: 10.1007/s11465-013-0280-8

Abstract: Due to posture constantly change in working process, kinematic rule and dynamic characteristic are difficultA dynamics model of a mobile concrete pump boom is established based on discrete time transfer matrixIn the model, the booms and links are regarded as rigid elements and the hydraulic cylinders are equivalentThe overall dynamic equation and transfer matrix of the model can be assembled by sub-structures A andThe displacement and rotation angle curves of the proposed method fit well with the ADAMS model.

Keywords： multi-body     mobile concrete pump boom     discrete time transfer matrix method (DTTMM)     kinematic     dynamic     tip    

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Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism

TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 214-217 doi: 10.1007/s11465-007-0037-3

Abstract: This paper deals with the static and dynamic output kinematic accuracy of a group of elastic slider-crankAccording to the principle of linear pile-up of small displacement, the static and dynamic output kinematicerrors are synthesized, and the reliability model of the kinematic accuracy of the mechanism is builtThrough an example, a study of the influencing factors on the reliability of the output kinematic accuracydeformation of the mechanism becomes the principal factor that greatly affects the reliability of the output kinematic

Keywords： output kinematic     group     slider-crank     kinematic accuracy     displacement    

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA and a dual bending SPA. By constraining the deformation of the elastomeric chamber, the SPAs realize their prescribed motions, and the deformations subjected to pressures are characterized with numerical models. Experiments are performed for verification, and the results show good agreement. The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors. Control schemes are presented, and crawling tests are performed. The speeds predicted by the numerical models agree well with the speeds in the experiments.

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 211-224 doi: 10.1007/s11465-018-0471-4

Abstract:

This paper deals with the conceptual design, kinematic analysis and workspace identification of a

Keywords： spatial parallel robot     pick-and-place operations     mobility analysis     kinematic modeling     workspace identification    

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Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis

Mehdi VEISKARAMI, Ghasem HABIBAGAHI

Frontiers of Structural and Civil Engineering 2013, Volume 7, Issue 4,   Pages 446-455 doi: 10.1007/s11709-013-0227-5

Abstract: The kinematic approach of the limit analysis was employed to find the upper-bound limit of the bearing

Keywords： foundation     bearing capacity     limit analysis     numerical computation     plasticity     seepage    

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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 61-70 doi: 10.1007/s11465-011-0206-2

Abstract:

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by theHowever, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complexIn this perspective, this paper presents a method, which allows to generalize the problem of kinematicThis method has been implemented to derive the atlas of independent kinematic solutions suitable to beused for the kinematic design of a planar wearable robot for the lower limbs.

Keywords： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test    

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Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

Xinjun LIU, Xiang CHEN, Zhidong LI

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 199-209 doi: 10.1007/s11465-012-0315-6

Abstract:

Due to the demand of reconfigurable system in parallel kinematic machines (PKMs), modular design technology

Keywords： parallel kinematic machines (PKMs)     modular design     classification     topology optimization and improved Guide-Weight    

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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: An optimization approach is then investigated for the kinematic design of the three joint modules, in

Keywords： anthropomimetic design     robotic arm     cable-driven mechanism     kinematic analysis     design optimization    

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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:

In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machine

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

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Kinematic simulation of a parallel NC machine tool in the manufacturing process

ZHANG Jian-min, FAN Yu, JIA Dong-yun, ZOU Qiu-ling, WU Ying

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 2,   Pages 173-176 doi: 10.1007/s11465-006-0020-4

Abstract: introduces the structure of a 6-SPS parallel machine tool and explains the application significance of the kinematic

Keywords： 6-SPS     kinematic simulation     manufacturing     application significance    

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Title Author Date Type Operation

Loop theory and applications to some key problems of kinematic structure of kinematic chains

Huafeng DING, Zhen HUANG

Journal Article

Kinematic Model Building and Servo Parameter Identification of 3-HSS Parallel Mechanism

YANG Zhi-yong, WU Jiang, HUANG Tian, NI Yan-bing

Journal Article

Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

Journal Article

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

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Journal Article

Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

S. SHANKAR GANESH,A. B. KOTESWARA RAO

Journal Article

A dynamic model of mobile concrete pump boom based on discrete time transfer matrix method

Wu REN, Yunxin WU, Zhaowei ZHANG

Journal Article

Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism

TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin

Journal Article

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

Journal Article

Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis

Mehdi VEISKARAMI, Ghasem HABIBAGAHI

Journal Article

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Journal Article

Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

Xinjun LIU, Xiang CHEN, Zhidong LI

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

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

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Journal Article

Kinematic simulation of a parallel NC machine tool in the manufacturing process

ZHANG Jian-min, FAN Yu, JIA Dong-yun, ZOU Qiu-ling, WU Ying

Journal Article