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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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Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 765-781 doi: 10.1007/s11465-021-0655-1

Abstract: Generalized parallel mechanisms with a configurable moving platform have become popular in the researchfield of parallel mechanism.translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallelA kinematic analysis of the example mechanism is presented.The workspace shows that the mechanism possesses high rotational capability.

Keywords： generalized parallel mechanism     configurable moving platform     gripper mechanism     type synthesis     kinematic    

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A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4,   Pages 340-349 doi: 10.1007/s11465-013-0282-6

Abstract:

A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper.The rolling mechanism is composed of two platforms connected by three UPU (universal-prismatic-universalThe degree-of-freedom of the mechanism is analyzed using screw theory.Four rolling modes of the mechanism are discussed and simulated.The feasibility of the rolling mechanism is verified by means of a physical prototype.

Keywords： parallel mechanism     rolling mechanism     screw theory    

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Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 82-88 doi: 10.1007/s11465-007-0014-x

Abstract: The variables of the main module of a servo system for miniature reconfigurable parallel mechanism were

Keywords： acceleration     reconfigurable parallel     additive     sequence     parallel mechanism    

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Design, analysis, and neural control of a bionic parallel mechanism

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 468-486 doi: 10.1007/s11465-021-0640-8

Abstract: In this paper, a parallel mechanism is designed as a bionic torso to improve the agility, coordinationThe mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate theThe overall spatial motion performance of the parallel mechanism is improved by optimizing the structuralBased on this structure, the rhythmic motion of the parallel mechanism is obtained by supporting statemerges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism

Keywords： neural control     behavior network     rhythm     motion pattern    

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A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1,   Pages 7-19 doi: 10.1007/s11465-015-0324-3

Abstract:

In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed

Keywords： parallel mechanism     concomitant motions     kinematics     workspaces     error model    

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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.In this paper, the direct and inverse kinematics of an orthogonal spherical two-degree-of-freedom parallelmechanism is proposed based on the modified Euler angles.All the singular poses of the mechanism are achieved through the direct kinematic analysis.Self-motions, which are different from the general spherical 5 parallel mechanisms, are also discussed

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

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Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0695-1

Abstract: This study presents a family of novel translational parallel mechanisms (TPMs) with single-loop topologicalThe proposed mechanism consists of only revolute and prismatic joints.workspace of the 3-CRR (C denotes the cylindrical joint and R denotes the revolute joint) translational mechanism

Keywords： translational parallel mechanism     single loop     multiple driving system     workspace analysis     singularity    

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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: Spherical) parallel manipulators is proposed in this study.This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanismnovel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallelmechanism.

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

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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:

Based on the prototype of 3-UPU (universal-prismatic-universal joint) parallel mechanism proposedevaluation is performed and calculated the bound of instability of SNU Seoul National University 3-UPU parallelmechanism.Through analysis of the terminal constraint system of the 3-UPU parallel mechanism, the equation aboutWith the practice experiment result of SUN 3-UPU parallel mechanism, we find it’s bound of instability

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

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Optimum design and preliminary experiments of a novel parallel end traction apparatus for upper-limb

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 726-746 doi: 10.1007/s11465-021-0651-5

Abstract: This paper introduces a novel parallel end traction apparatus (PETA) to supplement equipment selectionthe potential configurations of the actuation execution unit because of their compact arrangement and parallelKinematic analysis of each mechanism, i.e., position solutions and Jacobian matrix, is carried out.

Keywords： parallel mechanism     upper-limb rehabilitation     singularity and workspace analyses     performance evaluation    

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Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0740-0

Abstract: At present, few methods for these robots’ leg design utilize a side-mounted spatial parallel mechanismThus, this paper presents a complete design process of a novel 5-degree-of-freedom (5-DOF) hybrid leg mechanismFirst, a general approach is proposed for constructing the novel leg mechanism.With regard to the synthesis method of the parallel mechanism, a family of concise hybrid leg mechanismsFurthermore, the virtual quadruped rover equipped with this innovative leg mechanism is built.

Keywords： design synthesis     parallel mechanism     hybrid leg mechanism     screw theory     quadruped robot    

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A redundantly actuated PRPRP radial mechanism in the segment erector of a shield machine for synchronization

Wanghui BU, Zhenyu LIU, Jianrong TAN, Jin CHENG

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 4,   Pages 463-467 doi: 10.1007/s11465-011-0225-z

Abstract: difficult to achieve precise control in the 6-DOF (degree of freedom) erector in the 2-DOF 5-bar radial mechanismHence, this paper proposes a redundantly actuated PRPRP radial mechanism for the segment erector.When the redundant actuator is unlocked, the radial mechanism is able to adjust its posture, which hashand, when the redundant actuator is locked or produces enough pre-tightening tensile force, the PRPRP mechanism

Keywords： redundant actuation     parallel mechanisms     five-bar mechanisms     segment erectors     shield machines    

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Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom

MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 2,   Pages 227-232 doi: 10.1007/s11465-006-0005-3

Abstract: This paper analyzes the precision of the dissymmetrical parallel mechanism of 3-RRRP(4R) with three translationalThe parallel mechanism has weakly-coupled, decoupled and real-time characteristics, thus error compensationfound that the position errors of the moving platform have nonlinear relation with the position of the mechanismOtherwise, the original errors of the mechanism are the main reason leading to more errors.enhancing machining and assembling precision is an important method to enhance the precision of the mechanism

Keywords： manipulator     nonlinear     δθ     influence     differential    

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Multi－target Tracking Algorithm for Multi－static Radar SystemBased on Parallel Processing Mechanism

Xu Hongkui,Wang Dongjin,Chen Weidong

Strategic Study of CAE 2007, Volume 9, Issue 11,   Pages 151-156

Abstract: range high speed maneuvering targets with multi- static radar system, a tracking algorithm based on parallelprocessing mechanism is derived.The whole measurement association course was divided into some parallel sub-courses, moreover, an establishedtarget's tracking course is separated into two parallel3-D sub-courses which execute iterative filtering

Keywords： multi-static radar system     multi-target tracking     parallel processing     MSJPDA     parallel extendedkalman filtering    

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Title Author Date Type Operation

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

Journal Article

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

Journal Article

A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

Journal Article

Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

Journal Article

Design, analysis, and neural control of a bionic parallel mechanism

Journal Article

A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

Journal Article

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

Jialun YANG, Feng GAO,

Journal Article

Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

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

Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Journal Article

Optimum design and preliminary experiments of a novel parallel end traction apparatus for upper-limb

Journal Article

Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth

Journal Article

A redundantly actuated PRPRP radial mechanism in the segment erector of a shield machine for synchronization

Wanghui BU, Zhenyu LIU, Jianrong TAN, Jin CHENG

Journal Article

Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom

MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping

Journal Article

Multi－target Tracking Algorithm for Multi－static Radar SystemBased on Parallel Processing Mechanism

Xu Hongkui,Wang Dongjin,Chen Weidong

Journal Article