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Module-based method for design and analysis of reconfigurable parallel robots

Fengfeng XI, Yuwen LI, Hongbo WANG

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2,   Pages 151-159 doi: 10.1007/s11465-011-0121-6

Abstract:

This paper presents a method for the design and analysis of reconfigurable parallel robots.The inherent modularity in a parallel robot lends itself as a natural candidate for reconfiguration.a reconfigurable parallel robot can be realized.It is shown that the module-based method not only provides a systematic way of designing a reconfigurableparallel robot, but also offers a unified modeling for robot analysis.

Keywords： reconfigurable parallel robot     topology morphing     group morphing    

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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:

This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallelThe robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk andturn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulatorWhen all four feet of the robot contact on the ground, by assuming there is no slipping at the feet,The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve

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

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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: analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallelrobot for pick-and-place operations.The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform.To investigate the characteristics of the robot’s DOFs, a line graph method based on GrassmannOn the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed

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

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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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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: The parallel robot can also handle both a laparoscope as well an active instrument for different surgicalThe kinematic modelling of a new parallel architecture, the inverse and direct geometric model and theThe paper will demonstrate that with this parallel structure, one can obtain the necessary workspaceThe robot workspace was generated using the inverse geometric model.Some kinematic simulation results and the experimental model of the robot are presented in the paper.

Keywords： parallel robot     minimally invasive surgery     kinematics     simulation    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robotThis work also exploits the proposed CDLA and designs a masticatory robot called Southeast Universitymasticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position changeChewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can

Keywords： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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

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:

This study introduces a high-speed parallel robot with Schönflies motion.This robot exhibits a promising prospect in realizing high-speed pick-and-place manipulation for packagingThe robot has four identical limbs and a single platform.Its compact structure and single-platform concept provides this robot with good dynamic response potentialThereafter, the singular loci of the proposed robot with specific geometric parameters are derived.

Keywords： parallel robot     mobility     inverse kinematics     singularity     transmission performance    

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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0678-2

Abstract: In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeletonThe robot can achieve flexible motion in 3D space.Experiments show that the robot can be controlled to move to the desired position based on the proposedThe prototype and modeling method can provide a new perspective for soft robot design, modeling, and

Keywords： pneumatic artificial muscles     soft robot     modeling approach     principle of virtual work     external load    

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Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4,   Pages 350-359 doi: 10.1007/s11465-013-0271-9

Abstract:

Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.

Keywords： parallel robot     flexible cable     suspended robot     dynamic    

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Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 4,   Pages 344-351 doi: 10.1007/s11465-015-0364-8

Abstract:

In recent years, various cable-driven parallel robots have been investigated for their advantages,such as low structural weight, high acceleration, and large workspace, over serial and conventional parallelThus, the application of such an optimal controller in cable-driven parallel robots can result in moreThis paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots.robot (Feriba-3) is developed.

Keywords： accuracy     cable-driven parallel robot     linear quadratic optimal control    

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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 kinematicchains and parallel mechanism theory.It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves

Keywords： cable-driven parallel robot     kinematics     optimization     dynamics     control    

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Evaluation of the power consumption of a high-speed parallel robot

Gang HAN, Fugui XIE, Xin-Jun LIU

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 167-178 doi: 10.1007/s11465-017-0456-8

Abstract:

An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principleWith this dynamic model, a new evaluation method is proposed to measure the power consumption of the robotThese indices can evaluate the power input and output transmissibility of the robot in a workspace.The distributions of the power input and output transmissibility of the high-speed parallel robot areFurtherly, a low-power-consumption workspace is selected for the robot.

Keywords： high-speed parallel robot     dynamic model     power consumption     evaluation method     power vector    

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

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 prostateThe limited space for robot manipulation restricts structure volume and motion.A novel parallel structure is employed in the robot system for space saving, structural rigidity, andmethod based on informative value is proposed for kinematic parameter identification to calibrate the parallelVerification experiments prove that the robot system can realize motions needed in targeting.

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

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A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 3,   Pages 351-364 doi: 10.1007/s11465-020-0594-2

Abstract: This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and aportable parallel kinematic machine tool.to take advantage of the large workspace of the legged mobile platform and the high precision of the parallel

Keywords： legged robot     parallel mechanism     mobile machine tool     in-situ machining    

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A zone-layered trimming method for ceramic core of aero-engine blade based on an advanced reconfigurable

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0675-5

Abstract: Ceramic structural parts are one of the most widely utilized structural parts in the industry. However, they usually contain defects following the pressing process, such as burrs. Therefore, additional trimming is usually required, despite the deformation challenges and difficulty in positioning. This paper proposes an ultrafast laser processing system for trimming complex ceramic structural parts. Opto-electromechanical cooperative control software is developed to control the laser processing system. The trimming problem of the ceramic cores used in aero engines is studied. The regional registration method is introduced based on the iterative closest point algorithm to register the path extracted from the computer-aided design model with the deformed ceramic core. A zonal and layering processing method for three-dimensional contours on complex surfaces is proposed to generate the working data of high-speed scanning galvanometer and the computer numerical control machine tool, respectively. The results show that the laser system and the method proposed in this paper are suitable for trimming complex non-datum parts such as ceramic cores. Compared with the results of manual trimming, the method proposed in this paper has higher accuracy, efficiency, and yield. The method mentioned above has been used in practical application with satisfactory results.

Keywords： ceramic parts trimming     computer-aided laser manufacturing     3D vision     reconfigurable laser processing    

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Title Author Date Type Operation

Module-based method for design and analysis of reconfigurable parallel robots

Fengfeng XI, Yuwen LI, Hongbo WANG

Journal Article

Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

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

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

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

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Journal Article

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

Fugui XIE,Xin-Jun LIU

Journal Article

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Journal Article

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

Journal Article

Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

Journal Article

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

Journal Article

Evaluation of the power consumption of a high-speed parallel robot

Gang HAN, Fugui XIE, Xin-Jun LIU

Journal Article

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

Journal Article

A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Journal Article

A zone-layered trimming method for ceramic core of aero-engine blade based on an advanced reconfigurable

Journal Article