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Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 765-781 doi: 10.1007/s11465-021-0655-1

摘要： Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism. This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans. This study proposes a family of novel (5 + 1) degrees of freedom (three translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform. First, the configurable moving platform, which is a closed loop, is designed for grasping manipulation. The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios. A sufficient rule based on Lie group theory is proposed to synthesize the mechanism. The hybrid limb structure is also enumerated. A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule. Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study. A kinematic analysis of the example mechanism is presented. The workspace shows that the mechanism possesses high rotational capability. In addition, a stiffness analysis is performed.

关键词： generalized parallel mechanism     configurable moving platform     gripper mechanism     type synthesis     kinematic analysis    

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Novel method of constructing generalized Hoberman sphere mechanisms based on deployment axes

Xuemin SUN, Yan-An YAO, Ruiming LI

《机械工程前沿（英文）》 2020年 第15卷 第1期   页码 89-99 doi: 10.1007/s11465-019-0567-5

摘要： This study proposes a method of constructing type II generalized angulated elements (GAEs II) Hoberman sphere mechanisms on the basis of deployment axes that intersect at one point. First, the constraint conditions for inserting GAEs II into deployment axes to form a loop are given. The angle constraint conditions of the deployment axes are obtained through a series of linear equations. Second, the connection conditions of two GAEs II loops that share a common deployable center are discussed. Third, a flowchart of constructing the generalized Hoberman sphere mechanism on the basis of deployment axes is provided. Finally, four generalized Hoberman sphere mechanisms based on a fully enclosed regular hexahedron, arithmetic sequence axes, orthonormal arithmetic sequence axes, and spiral-like axes are constructed in accordance with the given arrangement of deployment axes that satisfy the constraint conditions to verify the feasibility of the proposed method.

关键词： deployable mechanism     type II generalized angulated elements     Hoberman sphere mechanism     deployment axes     constraint conditions    

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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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A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

《机械工程前沿（英文）》 2013年 第8卷 第4期   页码 340-349 doi: 10.1007/s11465-013-0282-6

摘要：

A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper. The rolling mechanism is composed of two platforms connected by three UPU (universal-prismatic-universal) serial-chain type limbs. The degree-of-freedom of the mechanism is analyzed using screw theory. Gait analysis and stability analysis are presented in detail. Four rolling modes of the mechanism are discussed and simulated. The feasibility of the rolling mechanism is verified by means of a physical prototype. Finally, its terrain adaptability is enhanced through planning the rolling gaits.

关键词： parallel mechanism     rolling mechanism     screw theory    

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Mechanism design of reverse auction on concession period and generalized quality for PPP projects

Xianjia WANG, Shiwei WU

《工程管理前沿（英文）》 2017年 第4卷 第2期   页码 156-170 doi: 10.15302/J-FEM-2017016

摘要： Reverse auctions of PPP projects usually require the bid to specify several characteristics of quality and the concession period to be fulfilled. This paper sets up a summary function of generalized quality, which contributes to reducing the dimensions of information. Thus, the multidimensional reverse auction model of a PPP project can be replaced by a two-dimensional direct mechanism based on the concession period and the generalized quality. Based on the theory of the revelation principle, the feasibility conditions, equilibrium solution and generalized quality requirements of such a mechanism, considering the influence of a variable investment structure are described. Moreover, two feasible multidimensional reverse auctions for implementing such a direct mechanism: Adjusting the scoring function and establishing a special reverse auction rule are built. The analysis shows that in these types of reverse auctions, optimal allocation can be achieved, the social benefit under the incomplete information will be maximized, and the private sector with the highest integrated management level wins the bid. In such a direct mechanism, the investment and financial pressure of the public sector can be reduced.

关键词： PPP project     reverse auction     mechanism design     multidimensional information     scoring function     two-stage bidding    

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Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

《机械工程前沿（英文）》 2007年 第2卷 第1期   页码 82-88 doi: 10.1007/s11465-007-0014-x

摘要： The variables of the main module of a servo system for miniature reconfigurable parallel mechanism were identified and automatically tuned. With the reverse solution module of the translation, the module with the exerted translation joint was obtained, which included the location, velocity and acceleration of the parallelogram carriage-branch. The rigid dynamic reverse model was set as the virtual work principle. To identify the variables of the servo system, the triangle-shaped input signal with variable frequency was adopted to overcome the disadvantages of the pseudo-random number sequence, i.e., making the change of the vibration amplitude of the motor dramatically, easily impact the servo motor and make the velocity loop open and so on. Moreover, all the variables including the rotary inertia of the servo system were identified by the additive mass. The overshoot and rise time were the optimum goals, the limited changing load with the attitude was considered, and the range of the controller variables in the servo system was identified. The results of the experiments prove that the method is accurate.

关键词： acceleration     reconfigurable parallel     additive     sequence     parallel mechanism    

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Design, analysis, and neural control of a bionic parallel mechanism

《机械工程前沿（英文）》 2021年 第16卷 第3期   页码 468-486 doi: 10.1007/s11465-021-0640-8

摘要： Although the torso plays an important role in the movement coordination and versatile locomotion of mammals, the structural design and neuromechanical control of a bionic torso have not been fully addressed. In this paper, a parallel mechanism is designed as a bionic torso to improve the agility, coordination, and diversity of robot locomotion. The mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate the bending and stretching of an animal’s torso during walking and running. The overall spatial motion performance of the parallel mechanism is improved by optimizing the structural parameters. Based on this structure, the rhythmic motion of the parallel mechanism is obtained by supporting state analysis. The neural control of the parallel mechanism is realized by constructing a neuromechanical network, which merges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism for different motion patterns. Experimental results show that the complete integrated system can be controlled in real time to achieve proper limb–torso coordination. This coordination enables several different motions with effectiveness and good performance.

关键词： neural control     behavior network     rhythm     motion pattern    

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A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

《机械工程前沿（英文）》 2015年 第10卷 第1期   页码 7-19 doi: 10.1007/s11465-015-0324-3

摘要：

In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed. The manipulator owns three main motions (two rotations and one translation) and three concomitant motions (one rotation and two translations). At first, the structure of this spatial PKM is simplified according to the characteristic of each limb. Secondly, the kinematics model of this spatial PKM is set up. In addition, the relationship between the main motions and concomitant motions is studied. The workspaces respectively based on the outputs and inputs are derived and analyzed. Furthermore, the velocity model is put forward. Two indexes based on the velocity model are employed to investigate the performance of this spatial PKM. At last, the output error model can be obtained and simulated. The comprehensive kinematics analysis in this paper is greatly useful for the future applications of this spatial PKM.

关键词： parallel mechanism     concomitant motions     kinematics     workspaces     error model    

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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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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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Optimization of controlled mechanism based on generalized inverse method

YANG Jin-tang, KONG Jian-yi, XIONG He-gen, JIANG Guo-zhang, LI Gong-fa

《机械工程前沿（英文）》 2006年 第1卷 第3期   页码 288-291 doi: 10.1007/s11465-006-0037-8

摘要： Based on the mechanical features of the controlled driving component and the characteristics of controlled mechanism of two degrees of freedom, a circle fitting optimization model of controlled mechanism that accurately realizes the multi-point track, has been established. The generalized inverse method for solving compensation movement displacement has been presented.

关键词： controlled     displacement     multi-point     compensation     optimization    

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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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Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 210-218 doi: 10.1007/s11465-012-0317-4

摘要：

Based on the prototype of 3-UPU (universal-prismatic-universal joint) parallel mechanism proposed by Tsai [ ], the parasitic rotation evaluation is performed and calculated the bound of instability of SNU Seoul National University 3-UPU parallel mechanism. Through analysis of the terminal constraint system of the 3-UPU parallel mechanism, the equation about the parasitic rotation and limited clearance is presented. Then the norm of possible parasitic rotation is employed to evaluate the mechanism stability with limited clearance. The higher this number the worst is the pose, the lower it is the best it is. And the contour atlas of parasitic rotation is obtained, which can be used for further analysis and design. With the practice experiment result of SUN 3-UPU parallel mechanism, we find it’s bound of instability, which indicates there will appear the parasitic rotation when the number exceeds the bound. Finally, the method for avoidance of possible parasitic motions is presented by adding redundantly actuated limbs.

关键词： parallel mechanism     3-UPU (universal-prismatic-universal joint)     parasitic motions     limited clearance     redundantly actuated limbs    

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

《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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Isomorphism analysis on generalized modules oriented to the distributed parameterized intelligent product

Shasha ZENG, Weiping PENG, Tiaoyu LEI

《机械工程前沿（英文）》 2020年 第15卷 第1期   页码 12-23 doi: 10.1007/s11465-019-0555-9

摘要： The distributed parameterized intelligent product platform (DPIPP) contains many agents of a product minimum approximate autonomous subsystem (generalized module). These distributed agents communicate, coordinate, and cooperate using their knowledge and skills and eventually accomplish the design for mass customization in a loosely coupled environment. In this study, a new method of isomorphism analysis on generalized modules oriented to DPIPP is proposed. First, on the basis of the bill of material partition and generalized module mining, the parameters of the main characteristics are extracted to construct the main characteristic parameter matrix. Second, similarity calculation of generalized modules is realized by improving the clustering using representatives algorithm, and isomorphism model sets are obtained. Generalized modules with a similar structure are combined to complete the isomorphism analysis. The effectiveness of the proposed method is verified by taking high- and medium-pressure valve data as an example.

关键词： distributed parameterized intelligent product platform     generalized module     isomorphism analysis     product family    

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标题 作者 时间 类型 操作

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

期刊论文

Novel method of constructing generalized Hoberman sphere mechanisms based on deployment axes

Xuemin SUN, Yan-An YAO, Ruiming LI

期刊论文

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

期刊论文

A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

期刊论文

Mechanism design of reverse auction on concession period and generalized quality for PPP projects

Xianjia WANG, Shiwei WU

期刊论文

Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

期刊论文

Design, analysis, and neural control of a bionic parallel mechanism

期刊论文

A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

期刊论文

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

Jialun YANG, Feng GAO,

期刊论文

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

期刊论文

Optimization of controlled mechanism based on generalized inverse method

YANG Jin-tang, KONG Jian-yi, XIONG He-gen, JIANG Guo-zhang, LI Gong-fa

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

Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

期刊论文

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

期刊论文

Isomorphism analysis on generalized modules oriented to the distributed parameterized intelligent product

Shasha ZENG, Weiping PENG, Tiaoyu LEI

期刊论文