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Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
《机械工程前沿(英文)》 2011年 第6卷 第1期 页码 45-60 doi: 10.1007/s11465-011-0205-3
In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.
关键词: anthropomimetic design robotic arm cable-driven mechanism kinematic analysis design optimization
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
关键词: modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design
State-of-the-art on theories and applications of cable-driven parallel robots
《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0693-3
关键词: cable-driven parallel robot kinematics optimization dynamics control
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1
关键词: masticatory robot cable-driven linear actuator parallel robot stiffness analysis
Linear quadratic optimal controller for cable-driven parallel robots
Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI
《机械工程前沿(英文)》 2015年 第10卷 第4期 页码 344-351 doi: 10.1007/s11465-015-0364-8
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 parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional-integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.
关键词: accuracy cable-driven parallel robot linear quadratic optimal control
Design and modeling of continuum robot based on virtual-center of motion mechanism
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6
关键词: VCM mechanism continuum robot flexural joint pseudo-rigid body model cable-driven
Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots
《机械工程前沿(英文)》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0756-0
关键词: kinetostatic modeling morphology characterization variable friction continuum robots in-situ maintenance
可实现跖屈—背屈双向运动辅助的绳驱动踝关节外骨骼 Research
王田苗1,裴轩1,侯涛刚1,2,樊瑜波3,5,杨轩1,Hugh M. HERR4,杨兴帮4
《信息与电子工程前沿(英文)》 2020年 第21卷 第5期 页码 723-739 doi: 10.1631/FITEE.1900455
Digital technology-driven smart society governance mechanism and practice exploration
《工程管理前沿(英文)》 2023年 第10卷 第2期 页码 319-338 doi: 10.1007/s42524-022-0200-x
关键词: digital technology new infrastructure smart society governance system governance modernization
Gain-enhanced reconfigurable radiation array with mechanically driven system and directive elements
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0716-0
关键词: mechanism reconfigurable radiation array (RRA) compact state deployed state enhanced gain
《化学科学与工程前沿(英文)》 2022年 第16卷 第6期 页码 777-798 doi: 10.1007/s11705-022-2148-0
关键词: photoelectrochemical water splitting photoelectrodes hydrogen production charge separation catalytic mechanism
Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss
Yujie YU, Zhihua CHEN, Renzhang YAN
《结构与土木工程前沿(英文)》 2019年 第13卷 第5期 页码 1227-1242 doi: 10.1007/s11709-019-0551-5
关键词: sliding cable explicit solution framework original length method seismic response cable rupture
Analytical dynamic solution of a flexible cable-suspended manipulator
Mahdi BAMDAD
《机械工程前沿(英文)》 2013年 第8卷 第4期 页码 350-359 doi: 10.1007/s11465-013-0271-9
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.
《化学科学与工程前沿(英文)》 2021年 第15卷 第6期 页码 1561-1571 doi: 10.1007/s11705-021-2089-z
关键词: three-dimensionally ordered macroporous SrTiO3 ZnxCd1–xS visible light hydrogen production promotion mechanism
Nonlinear analysis of cable structures using the dynamic relaxation method
Mohammad REZAIEE-PAJAND, Mohammad MOHAMMADI-KHATAMI
《结构与土木工程前沿(英文)》 2021年 第15卷 第1期 页码 253-274 doi: 10.1007/s11709-020-0639-y
关键词: nonlinear analysis cable structure stiffness matrix dynamic relaxation method
标题 作者 时间 类型 操作
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
期刊论文
Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion
期刊论文
Linear quadratic optimal controller for cable-driven parallel robots
Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI
期刊论文
Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots
期刊论文
Gain-enhanced reconfigurable radiation array with mechanically driven system and directive elements
期刊论文
Rational design on photoelectrodes and devices to boost photoelectrochemical performance of solar-driven
期刊论文
Finite element modeling of cable sliding and its effect on dynamic response of cable-supported truss
Yujie YU, Zhihua CHEN, Renzhang YAN
期刊论文
Superior performance in visible-light-driven hydrogen evolution reaction of three-dimensionally ordered
期刊论文