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Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO
《机械工程前沿(英文)》 2020年 第15卷 第1期 页码 66-80 doi: 10.1007/s11465-019-0570-x
关键词: parallel mechanism redundant mechanism large rotational angles machine tools 2R1T spindle head collaborative manipulator
《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
关键词: 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset
《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
关键词: hydraulic manipulator inverse kinematic redundant design spherical wrist
An application of game theory in distributed collaborative decision making
Angran XIAO
《机械工程前沿(英文)》 2019年 第14卷 第1期 页码 85-101 doi: 10.1007/s11465-019-0523-4
关键词: collaboration distributed product realization game theory digital interface
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
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
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
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
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
关键词: redundant actuation parallel manipulator linkage–cam mechanism Jacobian optimal design
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
关键词: 5-DOF hybrid manipulator reconfigurable base large workspace dimensional synthesis optimal design
IN2CLOUD: A novel concept for collaborative management of big railway data
Jing LIN, Uday KUMAR
《工程管理前沿(英文)》 2017年 第4卷 第4期 页码 428-436 doi: 10.15302/J-FEM-2017048
关键词: railway intelligent asset management collaborative learning big data hybrid cloud Bayesian
Collaborative adoption of blockchain technology: A supply chain contract perspective
《工程管理前沿(英文)》 页码 121-142 doi: 10.1007/s42524-022-0239-8
关键词: blockchain collaborative adoption cost sharing revenue sharing hybrid contract
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
关键词: planar parallel manipulator assembly changing motions cusp points quartic polynomial discriminant of repeated roots
ZHANG Xiaodong, LI Yingzi, ZHANG Zhiqiang
《机械工程前沿(英文)》 2007年 第2卷 第2期 页码 210-213 doi: 10.1007/s11465-007-0036-4
关键词: development web-based business collaborative collaboration hierarchy
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
关键词: manipulator repelling influence manipulator configuration three-degree industrial simulation
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
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
Motion capability analysis of a quadruped robot as a parallel manipulator
Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 295-307 doi: 10.1007/s11465-014-0317-7
This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.
关键词: quadruped robot actuated joints selection kinematics analysis motion planning parallel manipulator
标题 作者 时间 类型 操作
Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational
Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO
期刊论文
Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization
期刊论文
Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical
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
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
IN2CLOUD: A novel concept for collaborative management of big railway data
Jing LIN, Uday KUMAR
期刊论文
Study on affecting factors of collaborative product development based on collaboration hierarchy model
ZHANG Xiaodong, LI Yingzi, ZHANG Zhiqiang
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