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Self-motions of 3-RPS manipulators

Josef SCHADLBAUER, Manfred L. HUSTY, Stéphane CARO, Philippe WENGERY

《机械工程前沿（英文）》 2013年 第8卷 第1期   页码 62-69 doi: 10.1007/s11465-013-0366-3

摘要：

Recently a complete kinematic description of the 3-RPS parallel manipulator was obtained using algebraic constraint equations. It turned out that the workspace splits into two components describing two kinematically different operation modes. In this paper the algebraic description is used to give a complete analysis of all possible self-motions of this manipulator in both operation modes. Furthermore it is shown that a transition from one operation mode into the other in a self-motion is possible.

关键词： 3-RPS-manipulator     singularity     self-motion    

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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

《机械工程前沿（英文）》 2018年 第13卷 第3期   页码 368-375 doi: 10.1007/s11465-018-0519-5

摘要：

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 mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10-6 . In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.

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

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含参数初值整定和自适应鲁棒方法的3-RPS气动并联平台位姿控制 Article

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

《信息与电子工程前沿（英文）》 2017年 第18卷 第3期   页码 303-316 doi: 10.1631/FITEE.1500353

摘要： 本文讨论了关于气缸驱动的3-RPS并联平台的一种控制方法。研究对象使用气动比例方向阀控制各驱动气缸，并建立了系统的运动学和动力学模型，采用基于反步法和在线参数辨识的自适应鲁棒控制器作为主要控制方式。

关键词： 参数初值整定；自适应鲁棒控制；并联机构；气缸    

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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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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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IP组播路由协议的研究与实现

李炜

《中国工程科学》 2002年 第4卷 第1期   页码 82-88

摘要： 分析了协议独立的组播路由一稀疏模式（PIM-SM)的缺陷，提出多个会聚 点（RPs)的PIM-SM的改进机制。多个RPs机制有效地提高了原有单个RP的PIM-SM协议的健壮性，有利 于实现负载均衡、分类业务及提高系统的容错性能，并讨论多个RPs机制的开销问题。分析了 PIM-SM实现细 节和组播技术的前景。

关键词： 协议独立的组播路由一稀疏模式（PIM-SM)     多会聚点（RPs)     组播    

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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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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

null

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 144-158 doi: 10.1007/s11465-016-0391-0

摘要：

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three-dimensional model is elaborated in SolidWorks® environment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS® environment with the aims of characterizing and evaluating the dynamic walking performance of the proposed design. Simulation results show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on flat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

关键词： feasibility study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism     3-UPU parallel manipulator    

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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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Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 150-162 doi: 10.1007/s11465-012-0325-4

摘要：

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a haptic minimally invasive surgery application. First the medical task was characterized with the help of a surgeon who performed a suture technique called anastomosis. A Vicon system was used to capture the motion of the surgeon, which yielded the volume swept by the tool during the anastomosis operation. The identified workspace can be represented by a cone with a half vertex angle of 26°. A multi objective optimization procedure based on genetic algorithms was then carried out to find the optimal SPM. Two criteria were considered, i.e., task workspace and mechanism dexterity. The optimized SPM was then analyzed to determine the error on the orientation of the end effector as a function of the manufacturing errors of the different links of the mechanism.

关键词： spherical parallel manipulator (SPM)     anastomosis     haptic     motion capture     optimization     workspace     dexterity     genetic algorithm     manufacturing errors    

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

《机械工程前沿（英文）》 2021年 第16卷 第3期   页码 451-467 doi: 10.1007/s11465-021-0634-6

摘要： A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of freedom (DOFs) is challenged for its dimensionally homogeneous Jacobian modeling and optimal design of architecture. In this paper, a means to achieve redundant actuation by adding kinematic constraints is introduced, which reduces the DOFs of the end-effector (EE). A generic dimensionally homogeneous Jacobian is developed for this type of RAPMs, which maps the generalized velocities of three points on the EE to the joint velocities. A new optimization algorithm derived from this dimensionally homogeneous Jacobian is proposed for the optimal design of this type of RAPMs. As an example, this paper presents a spatial RAPM involving linkages and cam mechanisms. This RAPM has 4 DOFs and 6 translational actuations. The linkage lengths and the position of the universal joints of the RAPM are optimized based on the dimensionally homogeneous Jacobian.

关键词： redundant actuation     parallel manipulator     linkage–cam mechanism     Jacobian     optimal design    

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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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Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0743-x

摘要： Most parallel manipulators have multiple solutions to the direct kinematic problem. The ability to perform assembly changing motions has received the attention of a few researchers. Cusp points play an important role in the kinematic behavior. This study investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallel manipulator. The direct kinematic problem of the manipulator yields a quartic polynomial equation. Each root in the equation determines the assembly configuration, and four solutions are obtained for a given set of actuated joint coordinates. By regarding the discriminant of the repeated roots of the quartic equation as an implicit function of two actuated joint coordinates, the direct kinematic singularity loci in the joint space are determined by the implicit function. Cusp points are then obtained by the intersection of a quadratic curve and a cubic curve. Two assembly changing motions by encircling different cusp points are highlighted, for each pair of solutions with the same sign of the determinants of the direct Jacobian matrices.

关键词： planar parallel manipulator     assembly changing motions     cusp points     quartic polynomial     discriminant of repeated roots    

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A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

《机械工程前沿（英文）》 2006年 第1卷 第3期   页码 336-340 doi: 10.1007/s11465-006-0033-z

摘要： A fuzzy robot motion planning approach is proposed in unknown environments for three-degree industrial robots. The proposed planning system is composed of several separate fuzzy units, which control individually each manipulator joint. Each unit combines a repelling influence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulator configuration, to generate actuating command for each link. Effectiveness of the proposed approach is verified through simulation.

关键词： manipulator     repelling influence     manipulator configuration     three-degree industrial     simulation    

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

《机械工程前沿（英文）》 2015年 第10卷 第2期   页码 198-210 doi: 10.1007/s11465-015-0335-0

摘要：

Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulators to execute cutting-edge applications. In particular, three kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control and adaptation based approaches, are reviewed. Future trend in the subject area is commented. Open-source simulators to facilitate controller design are also tabulated. With a comprehensive list of references, it is anticipated that the review will act as a first-hand reference for researchers, engineers and industrial-interns to realize the control laws for multi-degree of freedom (DOF) manipulators.

关键词： robot control     robust and nonlinear control     adaptive control     intelligent control     industrial manipulators     robotic arm    

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标题 作者 时间 类型 操作

Self-motions of 3-RPS manipulators

Josef SCHADLBAUER, Manfred L. HUSTY, Stéphane CARO, Philippe WENGERY

期刊论文

Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Yue WANG, Jingjun YU, Xu PEI

期刊论文

含参数初值整定和自适应鲁棒方法的3-RPS气动并联平台位姿控制

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

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

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

期刊论文

IP组播路由协议的研究与实现

李炜

期刊论文

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

期刊论文

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

null

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

Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

期刊论文

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

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

Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

期刊论文

A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

期刊论文

A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

期刊论文