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

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 120-134 doi: 10.1007/s11465-012-0321-8

摘要：

In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i.e., singularity-free, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed.

关键词： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 726-746 doi: 10.1007/s11465-021-0651-5

摘要： Robot-assisted technology has been increasingly employed in the therapy of post stroke patients to deliver high-quality treatment and alleviate therapists’ burden. This paper introduces a novel parallel end traction apparatus (PETA) to supplement equipment selection. Considering the appearance and performance of the PETA, two types of special five-bar linkage mechanisms are selected as the potential configurations of the actuation execution unit because of their compact arrangement and parallel structure. Kinematic analysis of each mechanism, i.e., position solutions and Jacobian matrix, is carried out. Subsequently, a comparative study between the two mechanisms is conducted. In the established source of nondimensional parameter synthesis, the singularity, maximum continuous workspace, and performance variation trends are analyzed. Based on the evaluation results, the final scheme with determined configuration and corresponding near-optimized nondimensional parameters is obtained. Then, a prototype is constructed. By adding a lockable translational degree of freedom in the vertical direction, the PETA can provide 2D planar exercise and 3D spatial exercise. Finally, a control system is developed for passive exercise mode based on the derived inverse position solution, and preliminary experiments are performed to verify the applicability of the PETA.

关键词： parallel mechanism     upper-limb rehabilitation     singularity and workspace analyses     performance evaluation     optimum design    

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

Po-Chih LEE, Jyh-Jone LEE

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 163-187 doi: 10.1007/s11465-012-0324-5

摘要：

This paper presents the analysis of three parallel manipulators with Schoenflies-motion. Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degree of freedom) in the translational motion and one DOF in rotational motion about a given direction axis with respect to the world coordinate system. The three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHw, CuRuuUhw-//-CvRvvUhwand CuPuUhw-//- CvPvUhw. The kinematic equations are first introduced for each manipulator. Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently derived and analysed for the first time. The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application in industry where pick-and-place motion is required.

关键词： parallel manipulator     schoenflies motion     kinematics     singularity     workspace     performance index    

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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

《机械工程前沿（英文）》 2013年 第8卷 第1期   页码 70-79 doi: 10.1007/s11465-013-0365-4

摘要：

In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient’s abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The robot workspace was generated using the inverse geometric model. An in-depth study of different types of singularity is performed, allowing the development of safe control algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.

关键词： parallel robot     minimally invasive surgery     kinematics     simulation    

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

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0695-1

摘要： This study presents a family of novel translational parallel mechanisms (TPMs) with single-loop topological structures. The proposed mechanism consists of only revolute and prismatic joints. The novel TPMs are simpler in structure and have fewer joints and components than the well-known Delta Robot. Four types of 2-degree of freedom driving systems are applied to different limb structures to avoid the moving actuator that causes the problem of increased moving mass. Four sample TPMs are constructed using the synthesized limbs, and one of them is investigated in terms of kinematic performance. First, a position analysis is performed and validated through numerical simulation to reveal the characteristics of partially decoupled motion, which improves the controllability of TPM. Second, singular configurations are identified, and the resulting singularity curve is obtained. Lastly, the workspace of TPM is analyzed, and the relationship between the singular configurations and the reachable workspace is explored. The workspace of the 3-CRR (C denotes the cylindrical joint and R denotes the revolute joint) translational mechanism is also presented to prove that the proposed TPM has a fairly large workspace.

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

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Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

《机械工程前沿（英文）》 2011年 第6卷 第4期   页码 397-408 doi: 10.1007/s11465-011-0228-9

摘要：

In this paper, a topology is presented for feasible workspace regions in general two-revolute manipulators. The design problem and concept of feasible workspace regions have been discussed as linked to each other. Design equations are formulated by arbitrarily prescribing four workspace boundary points. The so-called feasible workspace regions are the intersection of three different sub-regions, which are given by constraint curves as function of the relative positions of three workspace boundary points. By using a parametric study, all topologies for three sub-regions are figured out. Corresponding areas in cross section plane are determined for prescribing the position of a feasible workspace point as function of the topology for sub-regions. A classification has been proposed to determine and to characterize the combination of the topologies for those sub-regions. All topologies for feasible workspace regions are figured out and they are discussed as a design tool. Three general cases are analyzed in details to characterize workspace design capabilities for general two-revolute manipulators.

关键词： workspace     two-revolute manipulators     topology analysis     design    

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

Jialun YANG, Feng GAO,

《机械工程前沿（英文）》 2009年 第4卷 第4期   页码 379-385 doi: 10.1007/s11465-009-0075-0

摘要： 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 parallel mechanism 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. Singularity loci in the joint space and Cartesian space are plotted according to the Jacobin of the mechanism. Result shows that the singularity loci at the joint space are two circles and one line, whereas at the Cartesian space are a circle.

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

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Strain localization analyses of idealized sands in biaxial tests by distinct element method

Mingjing JIANG, Hehua ZHU, Xiumei LI,

《结构与土木工程前沿（英文）》 2010年 第4卷 第2期   页码 208-222 doi: 10.1007/s11709-010-0025-2

摘要： This paper presents a numerical investigation on the strain localization of an idealized sand in biaxial compression tests using the distinct element method (DEM). In addition to the dilatancy and material frictional angle, the principal stress field, and distributions of void ratio, particle velocity, and the averaged pure rotation rate (APR) in the DEM specimen are examined to illustrate the link between microscopic and macroscopic variables in the case of strain localization. The study shows that strain localization of the granular material in the tests proceeds with localizations of void ratio, strain and APR, and distortions of stress field and force chains. In addition, both thickness and inclination of the shear band change with the increasing of axial strain, with the former valued around 10–14 times of mean grain diameter and the later overall described by the Mohr-Coulomb theory.

关键词： idealized sand     strain localization     numerical analyses     distinct element method (DEM)    

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Exergy and exergoeconomic analyses for integration of aromatics separation with aromatics upgrading

《化学科学与工程前沿（英文）》 2023年 第17卷 第2期   页码 183-193 doi: 10.1007/s11705-022-2192-9

摘要： Methanol to aromatics produces multiple products, resulting in a limited selectivity of xylene. Aromatics upgrading is an effective way to produce more valuable xylene product, and different feed ratios generate discrepant product distributions. This work integrates the aromatics separation with toluene disproportionation, transalkylation of toluene and trimethylbenzene, and isomerization of xylene and trimethylbenzene. Exergy and exergoeconomic analyses are conducted to give insights in the splitting ratios of benzene, toluene and heavy aromatics for aromatics upgrading. First, a detailed simulation model is developed in Aspen HYSYS. Then, 300 splitting ratio sets of benzene and toluene for conversion are studied to investigate the process performances. The results indicate that there are different preferences for the splitting ratios of benzene and toluene in terms of exergy and exergoeconomic performances. The process generates lower total exergy destruction when the splitting ratio of toluene varies between 0.07 and 0.18, and that of benzene fluctuates between 0.55 and 0.6. Nevertheless, the process presents lower total product unit cost with the splitting ratio of toluene less than 0.18 and that of benzene fluctuating between 0.44 and 0.89. Besides, it is found that distillation is the biggest contributor to the total exergy destruction, accounting for 94.97%.

关键词： aromatics separation and upgrading     variant splitting ratios     total exergy destruction     total product unit cost    

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Numerical and experimental analyses of methane leakage in shield tunnel

《结构与土木工程前沿（英文）》   页码 1011-1020 doi: 10.1007/s11709-023-0956-z

摘要： Tunnels constructed in gas-bearing strata are affected by the potential leakage of harmful gases, such as methane gas. Based on the basic principles of computational fluid dynamics, a numerical analysis was performed to simulate the ventilation and diffusion of harmful gases in a shield tunnel, and the effect of ventilation airflow speed on the diffusion of harmful gases was evaluated. As the airflow speed increased from 1.8 to 5.4 m/s, the methane emission was diluted, and the methane accumulation was only observed in the area near the methane leakage channels. The influence of increased ventilation airflow velocity was dominant for the ventilation modes with two and four fans. In addition, laboratory tests on methane leakage through segment joints were performed. The results show that the leakage process can be divided into “rapid leakage” and “slight leakage”, depending on the leakage pressure and the state of joint deformation. Based on the numerical and experimental analysis results, a relationship between the safety level and the joint deformation is established, which can be used as guidelines for maintaining utility tunnels.

关键词： shield tunnel     harmful gas leakage     numerical analysis     laboratory test    

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Cohesive zone model-based analyses of localized leakage of segmentally lined tunnels

《结构与土木工程前沿（英文）》 2023年 第17卷 第4期   页码 503-521 doi: 10.1007/s11709-023-0927-4

摘要： This paper presents a novel approach for simulating the localized leakage behavior of segmentally lined tunnels based on a cohesive zone model. The proposed approach not only simulates localized leakage at the lining segment, but also captures the hydromechanically coupled seepage behavior at the segmental joints. It is first verified via a tunnel drainage experiment, which reveals its merits over the existing local hydraulic conductivity method. Subsequently, a parametric study is conducted to investigate the effects of the aperture size, stratum permeability, and spatial distribution of drainage holes on the leakage behavior, stratum seepage field, and leakage-induced mechanical response of the tunnel lining. The proposed approach yields more accurate results than the classical local hydraulic conductivity method. Moreover, it is both computationally efficient and stable. Localized leakage leads to reduced local ground pressure, which further induces outward deformation near the leakage point and slight inward deformation at its diametrically opposite side. A localized stress arch spanning across the leakage point is observed, which manifests as the rotation of the principal stresses in the adjacent area. The seepage field depends on both the number and location of the leakage zones. Pseudostatic seepage zones, in which the seepage rate is significantly lower than that of the adjacent area, appear when multiple seepage zones are considered. Finally, the importance of employing the hydromechanical coupled mechanism at the segment joints is highlighted by cases of shallowly buried tunnels subjected to surface loading and pressure tunnels while considering internal water pressure.

关键词： segmentally lined tunnel     localized leakage     cohesive element     hydraulic behavior     numerical modeling    

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Iterative finite element model of nonlinear viscoplastic analyses for blended granular porous media

WU Yuching, ZHU Cimian

《结构与土木工程前沿（英文）》 2007年 第1卷 第4期   页码 464-473 doi: 10.1007/s11709-007-0063-6

摘要： The iterative finite element model, in which an element is used to represent a single particle, is generated to analyze the global behavior of multiple-material aggregates of materially nonlinear viscoplastic particles. The genera

关键词： nonlinear viscoplastic     iterative     behavior     multiple-material    

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Image analyses for video-based remote structure vibration monitoring system

Yang YANG,Xiong (Bill) YU

《结构与土木工程前沿（英文）》 2016年 第10卷 第1期   页码 12-21 doi: 10.1007/s11709-016-0313-6

摘要： Video-based vibration measurement is a cost-effective way for remote monitoring the health conditions of transportation and other civil structures, especially for situations where accessibility is restricted and does not allow installation of conventional monitoring devices. Besides, video-based system is global measurement. The technical basis of video-based remote vibration measurement system is digital image analysis. Comparison of the images allow the field of motion to be accurately delineated. Such information is important to understand the structure behaviors including the motion and strain distribution. This paper presents system and analyses to monitor the vibration velocity and displacement field. The performance is demonstrated on a testbed of model building. Three different methods (i.e., frame difference method, particle image velocimetry, and optical Flow Method) are utilized to analyze the image sequences to extract the feature of motion. The Performance is validated using accelerometer data. The results indicate that all three methods can estimate the velocity field of the model building, although the results can be affected by factors such as background noise and environmental interference. Optical flow method achieved the best performance among these three methods studied. With further refinement of system hardware and image processing software, it will be developed into a remote video based monitoring system for structural health monitoring of transportation infrastructure to assist the diagnoses of its health conditions.

关键词： structure health monitoring     velocity estimation     frame difference     PIV     optical-flow method    

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一种具有大工作空间的轻量级力反馈手套 Article

郑宇铠, 王党校, 王子琦, 张昱, 张玉茹, 徐卫良

《工程（英文）》 2018年 第4卷 第6期   页码 869-880 doi: 10.1016/j.eng.2018.10.003

摘要：

在虚拟现实场景中，佩戴力反馈手套是一种有效的增强穿戴者与虚拟物体交互沉浸感的方法。这种手套的设计难点在于需要提供足够大的手指运动工作空间，在模拟自由空间和约束空间交互时提供所需的力反馈感觉，以及确保一个轻量级的结构。本文提出了一种将气动驱动器安装在使用者手背侧的力反馈手套。该手套采用了一种凸轮连杆组合机构，利用带有弯曲滑槽和三个运动副的连杆将阻力从气缸活塞杆传递到指尖。为了得到穿戴者指尖反馈力的一个较大的法向分量，通过分析带有三个运动副的连杆上的力平衡，计算出了滑槽的轮廓。本文研制了质量为245 g 的五指力反馈手套样机，建立了可穿戴的力测量系统，对自由空间和约束空间的力反馈性能进行了定量评价。实验结果表明，该手套在自由空间模拟中平均阻力小于0.1 N，在约束空间模拟中指尖力最大为4 N。实验进一步证实，这种手套能够保证手指的自由移动以及模拟典型的抓取操作手势。

关键词： 力反馈手套     轻量级     大工作空间     气压驱动     虚拟现实    

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A review of recent experimental investigations and theoretical analyses for pulsating heat pipes

Xin TANG, Lili SHA, Hua ZHANG, Yonglin JU

《能源前沿（英文）》 2013年 第7卷 第2期   页码 161-173 doi: 10.1007/s11708-013-0250-1

摘要： Pulsating heat pipe (PHP), or oscillating heat pipe (OHP), a novel type of highly efficient heat transfer component, has been widely applied in many fields, such as in space-borne two-phase thermal control systems, in the cooling of electronic devices and in energy-saving technology, etc. In the present paper, the characteristics and working principles of the PHPs are introduced and the current researches in the field are described from the viewpoint of experimental tests, theoretical analyses as well as practical applications. Besides, it is found that the state-of-the-art experimental investigations on the PHPs are mainly focused on the flow visualization and the applications of nanofluids and other functional fluids, aiming at enhancing the heat transfer performance of the PHPs. In addition, it is also pointed out that the present theoretical analyses of the PHP are restricted by further development of two-phase flow theories, and are concentrated in the non-linear analyses. Numerical simulations are expected to be another research focus, in particular of the combination of the nanofluids and functional fluids.

关键词： pulsating heat pipe (PHP)     flow visualization     nanofluids     nonlinear analysis    

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标题 作者 时间 类型 操作

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

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

期刊论文

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

期刊论文

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

Po-Chih LEE, Jyh-Jone LEE

期刊论文

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

期刊论文

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

期刊论文

Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

期刊论文

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

Jialun YANG, Feng GAO,

期刊论文

Strain localization analyses of idealized sands in biaxial tests by distinct element method

Mingjing JIANG, Hehua ZHU, Xiumei LI,

期刊论文

Exergy and exergoeconomic analyses for integration of aromatics separation with aromatics upgrading

期刊论文

Numerical and experimental analyses of methane leakage in shield tunnel

期刊论文

Cohesive zone model-based analyses of localized leakage of segmentally lined tunnels

期刊论文

Iterative finite element model of nonlinear viscoplastic analyses for blended granular porous media

WU Yuching, ZHU Cimian

期刊论文

Image analyses for video-based remote structure vibration monitoring system

Yang YANG,Xiong (Bill) YU

期刊论文

一种具有大工作空间的轻量级力反馈手套

郑宇铠, 王党校, 王子琦, 张昱, 张玉茹, 徐卫良

期刊论文

A review of recent experimental investigations and theoretical analyses for pulsating heat pipes

Xin TANG, Lili SHA, Hua ZHANG, Yonglin JU

期刊论文