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Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundanthumanoid manipulator

Zi-wu REN,Zhen-hua WANG,Li-ning SUN

《信息与电子工程前沿（英文）》 2015年 第16卷 第7期   页码 607-616 doi: 10.1631/FITEE.14a0335

摘要： The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization (BBO) is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization (HBBO) algorithm, which is based on BBO and differential evolution (DE), is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and DE/best/1/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an example. The end-effector error (position and orientation) and the ‘away limitation level’ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.

关键词： Inverse kinematics problem     8-DOF humanoid manipulator     Biogeography-based optimization (BBO)     Differential evolution (DE)    

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

《机械工程前沿（英文）》 2021年 第16卷 第3期   页码 435-450 doi: 10.1007/s11465-021-0630-x

摘要： Seven-degree-of-freedom redundant manipulators with link offset have many advantages, including obvious geometric significance and suitability for configu-ration control. Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese Space Station Remote Manipulator System. However, finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult. This study proposes a high-precision, semi-analytical inverse method for EMMs. Firstly, the analytical inverse kinematic solution is established based on joint angle parameterization. Secondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulator is derived based on arm angle parameterization. The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator. Thirdly, the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization. After selecting the stride and termination condition, the precise inverse solution is computed for the EMM based on arm angle parameterization. Lastly, case solutions confirm that this method has high precision, and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator     inverse kinematics     semi-analytical     arm angle     link offset    

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A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 109-119 doi: 10.1007/s11465-012-0323-6

摘要：

Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.

关键词： working capacity     multi-DOF manipulator     capacity polytope     excavating mechanism    

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Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

《机械工程前沿（英文）》 2021年 第16卷 第1期   页码 46-60 doi: 10.1007/s11465-020-0606-2

摘要： A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combining the 5PUS-PRPU (P, R, U and S represent prismatic, revolute, universal and spherical joint, respectively) parallel mechanism with the 5PRR reconfigurable base to enhance the perfusion efficiency of the large-scale spherical honeycomb thermal protection layer. This study mainly presents the dimensional synthesis of the proposed HPM. First, the inverse kinematics, including the analytic expression of the rotation angles of the U joint in the PUS limb, is obtained, and mobility analysis is conducted based on screw theory. The Jacobian matrix of 5PUS-PRPU is also determined with screw theory and used for the establishment of the objective function. Second, a global and comprehensive objective function (GCOF) is proposed to represent the Jacobian matrix’s condition number. With the genetic algorithm, dimensional synthesis is conducted by minimizing GCOF subject to the given variable constraints. The values of the designed variables corresponding to different configurations of the reconfigurable base are then obtained. Lastly, the optimal structure parameters of the proposed 5-DOF HPM are determined. Results show that the HPM with the optimized parameters has an enlarged orientation workspace, and the maximum angle of the reconfigurable base is decreased, which is conducive to improving the overall stiffness of HPM.

关键词： 5-DOF hybrid manipulator     reconfigurable base     large workspace     dimensional synthesis     optimal design    

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Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

《机械工程前沿（英文）》 2006年 第1卷 第3期   页码 299-304 doi: 10.1007/s11465-006-0030-2

摘要： In the fields of micro/nanopositioning application, error analysis is an effective way to enhance the precision of micromanipulators. Manufacturing imperfections, which are inevitable, are the most important factors influencing the accuracy. Therefore, various manufacturing imperfections were studied by taking a planar 3 degrees of freedom (3-DOF) flexure hinge based microrobot as a case. By formulating static stiffness of the robot, mapping between manufacturing imperfections and end-effector positioning accuracy was obtained. Using the theoretical calculation and finite element method (FEM), effects of various machining imperfection types on end-effector positioning accuracy were evaluated. The results showed that errors of the radium of the hinges and angular differences of the centerline of the hinges were dominant factors resulting in output errors. Conclusions drawn from the experiments can be used to instruct the design of compliant parallel mechanisms by distributing various manufacturing differences of configurable parameters to guarantee precision in the positioning of the end-effector within the required range; they may also be helpful while calibrating this kind of manipulator.

关键词： centerline     stiffness     effective     manipulator     precision    

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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

《机械工程前沿（英文）》 2014年 第9卷 第4期   页码 308-316 doi: 10.1007/s11465-014-0318-6

摘要：

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

关键词： humanoid robots     torso design     parallel manipulators (PKM)     conceptual design    

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0722-2

摘要： This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMs) and Bowden cables. The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base. First, this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion. Then, a novel type of one-degree-of-freedom (1-DOF) elbow joint is proposed based on this principle, which is also applied to design the 3-DOF wrist and shoulder joints. Next, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence. After that, both the forward and inverse kinematics of the entire arm are analyzed. Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, joint stiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the arm performance.

关键词： modular robotic arm     anti-parallelogram mechanism     Bowden cable     humanoid arm     lightweight joint design    

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0696-0

摘要： The loss of hand functions in upper limb amputees severely restricts their mobility in daily life. Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions. In a prosthetic hand design, replicating the natural and dexterous grasping functions with a few actuators remains a big challenge. In this study, a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid prosthetic hand. An optimization function of different functional conditions of full-phalanx contact, total contact force, and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping performance. Using a genetic algorithm, the optimal geometric parameters of the prosthetic finger could be determined for specific functional requirements. Optimal results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes. A prosthetic finger was fabricated and tested with grasping experiments. The mean absolute percentage error between the theoretical value and the experimental result is less than 10%, demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method possible. This study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage, which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented     tendon driven     prosthetic hand     optimization     humanoid     underactuated    

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Zeolitic imidazolate framework-8 (ZIF-8) for drug delivery: A critical review

Simin Feng, Xiaoli Zhang, Dunyun Shi, Zheng Wang

《化学科学与工程前沿（英文）》 2021年 第15卷 第2期   页码 221-237 doi: 10.1007/s11705-020-1927-8

摘要： Zeolitic imidazolate framework-8 (ZIF-8), composed of Zn ions and imidazolate ligands, is a class of metal-organic frameworks, which possesses a similar structure as conventional aluminosilicate zeolites. This material exhibits inherent porous property, high loading capacity, and pH-sensitive degradation, as well as exceptional thermal and chemical stability. Extensive research effort has been devoted to relevant research aspects ranging from synthesis methods, property characterization to potential applications of ZIF-8. This review focuses on the recent development of ZIF-8 synthesis methods and its promising applications in drug delivery. The potential risks of using ZIF-8 for drug delivery are also summarized.

关键词： zeolitic imidazolate framework-8 (ZIF-8)     synthesis methods     applications     drug delivery    

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Role of salivary matrix metalloproteinase-8 (MMP-8) in chronic periodontitis diagnosis

null

《医学前沿（英文）》 2015年 第9卷 第1期   页码 72-76 doi: 10.1007/s11684-014-0347-x

摘要：

Periodontitis is an inflammatory disease of the periodontium. Any imbalance between the matrix metalloproteinases (MMPs) secreted by neutrophils and tissue inhibitors initiates the destruction of collagen in gum tissue, leading to chronic periodontitis. This study aimed to correlate salivary levels of MMP-8 and periodontal parameters of chronic periodontitis to establish MMP-8 as a noninvasive marker for the early diagnosis of chronic periodontitis. The study involved 40 subjects visiting the periodontic OPD of Dr. Ziauddin Ahmad Dental College and Hospital, located in Aligarh, U.P., India, from 2011 to 2012. The subjects were divided into two groups: group I consisted of 20 periodontally healthy subjects (controls) while group II consisted of 20 patients with chronic periodontitis. Chronic periodontitis was assessed on the basis of several periodontal parameters, including pocket probing depth (PPD), clinical attachment level (CAL), gingival index (GI), and plaque index (PI). Around 3 ml of unstimulated and whole expectorated saliva was collected for MMP-8 estimation by ELISA using Quantikine human total MMP-8 immunoassay kits. Data were analyzed using STATISTICA (Windows version 6) software. Salivary MMP-8 levels of groups I and II were 190.91±143.89 ng/ml and 348.26±202.1 ng/ml, respectively. The MMP-8 levels and periodontal status (PPD, CAL, GI, and PI) of groups I and II showed positive and significant correlations (for PPD, r = 0.63, P<0.001; for CAL, r = 0.54, P<0.001; for GI, r = 0.49, P<0.001; and for PI, r = 0.63, P<0.001). The results of this study demonstrate elevated concentrations of MMP-8 in individuals with chronic periodontitis.

关键词： matrix metalloproteinase-8     chronic periodontitis     pocket probing depth     clinical attachment level     gingival index     plaque index    

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Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

《机械工程前沿（英文）》 2008年 第3卷 第4期   页码 421-425 doi: 10.1007/s11465-008-0063-9

摘要： Using an appropriate control method, linear ultrasonic motors can be used in applications requiring high position accuracy. In this paper, a closed loop PI control system is designed to achieve high position accuracy during the control of a two-DOF stage driven by linear ultrasonic motors. Two ultrasonic motors are mounted on the stage to generate motion in two orthogonal directions. The PI control algorithm is used to increase the stability and accuracy of position control. The -axis mover covers 30 mm forward and backward in less than 0.3 s settling time and the -axis mover in less than 0.4 s. Experimental results denote that the control strategy proposed in this paper appears to have high efficiency, quick response, and high accuracy.

关键词： settling     position accuracy     PI control     control algorithm     orthogonal    

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Reverse driving character of 2-DOF closed chain haptic device

GUO Wei-dong, GUO Xin, ZHANG Yu-ru

《机械工程前沿（英文）》 2006年 第1卷 第3期   页码 356-359 doi: 10.1007/s11465-006-0029-8

摘要： Reverse driving character plays an important role in evaluating the performance of a haptic device, and it is the primary rule in the mechanical design. This article mainly investigates the problem of 2-DOF haptic device design f
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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 698-710 doi: 10.1007/s11465-021-0646-2

摘要： The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to achieve. This study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulator with a novel roll–pitch–yaw spherical wrist. A hybrid series–parallel mechanism is presented to achieve the spherical wrist design, which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll structure. Designed as a 1R PRRR-1S PU mechanism (“R”, “P”, “S”, and “U” denote revolute, prismatic, spherical, and universal joints, respectively; the underlined letter indicates the active joint), the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain “R PRR” is included. The 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic computation. The analytical inverse kinematic solution is drawn by constructing self-motion manifolds. Finally, a physical prototype is developed, and the kinematic analysis is validated via numerical simulation and test results.

关键词： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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One DOF mechanism for the mechanical harvest of vines in an arbor structure and the validation of the

Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA

《机械工程前沿（英文）》 2015年 第10卷 第3期   页码 221-232 doi: 10.1007/s11465-015-0347-9

摘要：

In the mechanized harvest of vines, grape berries are detached through the vibration to the structure supporting the clusters. According to the kind of guide selected, the clusters require one or two vibration directions in the structure. For guiding in parral structures, vibration is necessary in two directions or planes: One perpendicular to the other. The guide branches producing the clusters develop in these planes, and the guiding is called H-guiding. Mechanism theory indicates that a mechanism has as many degrees of freedom as its actuators, and an actuator is needed to achieve a certain vibration. Having the smallest number of possible actuators is beneficial in reducing moving parts and achieving more compact and easily controllable mecha-nisms. In this case, a single degree-of-freedom mechanism is proposed. It is capable of generating vibrations on two planes: One perpendicular to the other. This mechanism is the sum of two link mechanisms on perpendicular planes with a common outlet located at the output rod of the mechanism where the actuator is found. As the distance between the soil and the elements containing the clusters is not constant, a system has been designed to measure the accelerations at the bars and the rocker to validate the acceleration values that detach the grape berries in a prototype in a lab experiment, to ensure that the acceleration needed for pulling the grape berries are produced at any contact point of the bar.

关键词： harvest     mechanisms     one DOF     vibration    

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Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

《机械工程前沿（英文）》 2006年 第1卷 第1期   页码 33-39 doi: 10.1007/s11465-005-0015-6

摘要：

A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.

关键词： control     real-time control     superunderactuation     TH-2     personification    

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标题 作者 时间 类型 操作

Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundanthumanoid manipulator

Zi-wu REN,Zhen-hua WANG,Li-ning SUN

期刊论文

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

期刊论文

A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

期刊论文

Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

期刊论文

Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

期刊论文

LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

期刊论文

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

期刊论文

Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

期刊论文

Zeolitic imidazolate framework-8 (ZIF-8) for drug delivery: A critical review

Simin Feng, Xiaoli Zhang, Dunyun Shi, Zheng Wang

期刊论文

Role of salivary matrix metalloproteinase-8 (MMP-8) in chronic periodontitis diagnosis

null

期刊论文

Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

期刊论文

Reverse driving character of 2-DOF closed chain haptic device

GUO Wei-dong, GUO Xin, ZHANG Yu-ru

期刊论文

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

期刊论文

One DOF mechanism for the mechanical harvest of vines in an arbor structure and the validation of the

Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA

期刊论文

Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

期刊论文