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Loop theory and applications to some key problems of kinematic structure of kinematic chains

Huafeng DING, Zhen HUANG

《机械工程前沿（英文）》 2009年 第4卷 第3期   页码 276-283 doi: 10.1007/s11465-009-0061-6

摘要： Structure synthesis of mechanisms is a pivotal issue in the field of mechanical innovation and mechanical conceptual design. In this paper, a new loop theory of kinematic chains is proposed. Based on this theory, some key problems that hamper computer-based automatic synthesis of mechanisms are solved. 1) The open problem of isomorphism of kinematic chains that has lasted for more than four decades is successfully solved. 2) A new rigid sub-chain detection method that is especially suitable for complex chains is proposed. 3) The characteristic representation code remains the same even if the drawing modes and labeling ways of a chain are changed, and an atlas database of kinematic chains is established. The multi-value problem for the representation of kinematic chains is solved. The results in this paper will benefit the digitization and computerization of mechanical conceptual design.

关键词： Loop theory     kinematic chains     isomorphism     atlas database    

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Balancing resilience and efficiency in supply chains: Roles of disruptive technologies under Industry

《工程管理前沿（英文）》   页码 171-176 doi: 10.1007/s42524-022-0247-8

摘要： In the Industry 4.0 era, disruptive technologies such as big data analytics, blockchain, Internet-of-Things, and additive manufacturing have become major forces driving supply chain transformation. Under such circumstances, particular attention should be attached to balancing resilience and efficiency of the supply chain, especially in the presence of more turbulence. In this study, we first summarize the conflicts between supply chain efficiency and supply chain resilience regarding practices and objectives. Then, we discuss the positive effects of disruptive technologies in improving resilience and efficiency. Afterwards, we propose a research agenda that covers both the influence mechanism and trade-off mechanism of these technologies in terms of resilience and efficiency.

关键词： disruptive technologies     supply chain     resilience     efficiency     paradox     balance    

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Levelized costs of the energy chains of new energy vehicles targeted at carbon neutrality in China

《工程管理前沿（英文）》   页码 392-408 doi: 10.1007/s42524-022-0212-6

摘要： The diffusion of new energy vehicles (NEVs), such as battery electric vehicles (BEVs) and fuel cell vehicles (FCVs), is critical to the transportation sector’s deep decarbonization. The cost of energy chains is an important factor in the diffusion of NEVs. Although researchers have addressed the technological learning effect of NEVs and the life cycle emissions associated with the diffusion of NEVs, little work has been conducted to analyze the life cycle costs of different energy chains associated with different NEVs in consideration of technological learning potential. Thus, relevant information on investment remains insufficient to promote the deployment of NEVs. This study proposes a systematic framework that includes various (competing or coordinated) energy chains of NEVs formed with different technologies of power generation and transmission, hydrogen production and transportation, power-to-liquid fuel, and fuel transportation. The levelized costs of three typical carbon-neutral energy chains are investigated using the life cycle cost model and considering the technological learning effect. Results show that the current well-to-pump levelized costs of the energy chains in China for BEVs, FCVs, and internal combustion engine vehicles (ICEVs) are approximately 3.60, 4.31, and 2.21 yuan/GJ, respectively, and the well-to-wheel levelized costs are 4.50, 6.15, and 7.51 yuan/GJ, respectively. These costs primarily include raw material costs, and they vary greatly for BEVs and FCVs from resource and consumer costs. In consideration of the technological learning effect, the energy chains’ well-to-wheel levelized costs are expected to decrease by 24.82% for BEVs, 27.12% for FCVs, and 19.25% for ICEVs by 2060. This work also summarizes policy recommendations on developing energy chains to promote the diffusion of NEVs in China.

关键词： energy chain     new energy vehicle     internal combustion engine vehicle     life cycle cost     technological learning    

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Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

《机械工程前沿（英文）》 2011年 第6卷 第3期   页码 344-353 doi: 10.1007/s11465-011-0227-x

摘要：

The motion dynamics and accuracy of parallel kinematic machines largely depend on the weights and rigidity of typical rigid links. Therefore, these parts should be designed in such a way that they are light but rigid. This work employs the techniques of topology and size optimization to design two typical rigid links of a parallel kinematic machine (PKM) and subsequently obtains applicable structures for them. The calculation models are established, and a new algorithm called the Guide-Weight method is introduced to solve topology optimization problems. The commercial software Ansys is used to perform size optimization.

关键词： topology optimization     size optimization     parallel kinematic machine (PKM)    

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Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 120-134 doi: 10.1007/s11465-012-0321-8

摘要：

In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i.e., singularity-free, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed.

关键词： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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Improving the resilience of maritime supply chains: The integration of ports and inland transporters

《工程管理前沿（英文）》   页码 51-66 doi: 10.1007/s42524-022-0231-3

摘要： The adverse impact of the outbreak of COVID-19 has reduced ports’ operational efficiency. In addition, ports and inland logistics providers are generally independent of each other and difficult to work together, which leads to time loss. Thus, as the core player, ports can integrate with inland logistics providers to improve the efficiency and resilience of maritime supply chains. This study examines the strategic options of two competing maritime supply chains consisting of ports and inland logistics providers. We investigate the impact of cooperation between ports and inland logistics providers and government regulation on the maritime supply chain by comparing members’ optimal pricing and overall social welfare under centralized, decentralized, and hybrid scenarios. Results indicate that the hybrid scenario is an equilibrium strategy for maritime supply chain, although this strategy is not optimal for governments seeking to improve supply chain resilience and maximize social welfare. Furthermore, observations show that through government economic intervention, both seaborne supplies can be incentivized to adopt an integrated strategy, and business and society can achieve a win–win situation.

关键词： resilience     Hotelling model     social welfare     maritime supply chain     game theory    

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Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

null

《机械工程前沿（英文）》 2014年 第9卷 第2期   页码 120-129 doi: 10.1007/s11465-014-0300-3

摘要：

In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel Kinematic Machine is presented. This mechanism provides translational motion along the Cartesian X-, Y- and Z- axes. It consists of three limbs each having an arm and forearm with prismatic-revolute-revolute-revolute joints. The moving or tool platform maintains same orientation in the entire workspace due to its joint arrangement. From inverse kinematics, the joint angles for a given position of tool platform necessary for the error modeling and analysis are obtained. Error modeling is done based on the differentiation of the inverse kinematic equations. Variation of pose errors along X, Y and Z directions for a set of dimensions of the parallel kinematic machine is presented. A non-dimensional performance index, namely, global error transformation index is used to study the influence of dimensions and its corresponding global maximum pose error is reported. An attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithms in MATLAB. The methodology presented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic Machine under study.

关键词： translational Parallel Kinematic Machine     error modeling     global error transformation index    

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Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism

TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin

《机械工程前沿（英文）》 2007年 第2卷 第2期   页码 214-217 doi: 10.1007/s11465-007-0037-3

摘要： This paper deals with the static and dynamic output kinematic accuracy of a group of elastic slider-crank mechanisms with the same design parameters by taking the bar length, the joint-gaps, the mass density, and the sectional and the physical parameters as random variables. According to the principle of linear pile-up of small displacement, the static and dynamic output kinematic errors are synthesized, and the reliability model of the kinematic accuracy of the mechanism is built. Through an example, a study of the influencing factors on the reliability of the output kinematic accuracy of the mechanism is made. The results obtained reveal the following facts: with the increase of the crank s rotating speed, the dynamic elastic deformation of the mechanism becomes the principal factor that greatly affects the reliability of the output kinematic accuracy of the mechanism.

关键词： output kinematic     group     slider-crank     kinematic accuracy     displacement    

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Resilience strategies for sustainable supply chains under budget constraints in the post COVID-19 era

《工程管理前沿（英文）》   页码 143-157 doi: 10.1007/s42524-022-0236-y

摘要： The COVID-19 outbreak has caused uncertainty risk surges, increased sustainable supply chain vulnerabilities, and challenges to sustainable supply chain resilience (SSCR) management. Therefore, improving SSCR is necessary to alleviate vulnerabilities, and SSCR management must generate large capital investments. However, the economic downturn brought about by the COVID-19 epidemic has made some companies have limited budgets that can be used to improve SSCR. Therefore, the design of resilience solutions needs to fully consider the constraints of budgetary costs. Most of the existing related literature only discusses optimal resilience solutions under certain cost constraints, so such resilience solutions cannot be applied to most enterprises. In this study, we set the cost constraint as a variable quantity, using resilience efficiency and customer satisfaction as indicators, to determine the changing laws of optimal resilience strategies when cost constraints change. These rules can be applied to enterprises with different budgeted costs. Our findings suggest that companies should prioritize sacrificing resilience measures (RMs) related to adaptive capacity when budget costs gradually decline, and RMs related to absorptive capacity are indispensable at all budget levels. Furthermore, the pursuit of environmental and social sustainability cannot be abandoned, no matter how limited the flexible budget may be.

关键词： sustainable supply chain     customer requirement     resilience efficiency     customer satisfaction     budget constraint    

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Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

《机械工程前沿（英文）》 2018年 第13卷 第2期   页码 211-224 doi: 10.1007/s11465-018-0471-4

摘要：

This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot’s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

关键词： spatial parallel robot     pick-and-place operations     mobility analysis     kinematic modeling     workspace identification    

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Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis

Mehdi VEISKARAMI, Ghasem HABIBAGAHI

《结构与土木工程前沿（英文）》 2013年 第7卷 第4期   页码 446-455 doi: 10.1007/s11709-013-0227-5

摘要： An estimate of the ultimate load on foundations on soil layers subject to groundwater flow has been presented. The kinematic approach of the limit analysis was employed to find the upper-bound limit of the bearing capacity. Both smooth and rough base strip foundations were considered associated with different collapse patterns. Presence of the groundwater flow leads to a non-symmetric collapse pattern, i.e., a weak side and a strong side in two-sided collapse patterns, depending on the direction of the flow. It was found that the bearing capacity has a decreasing trend with increase in the groundwater flow gradient and hence, a reduction factor has been introduced to the third term in the bearing capacity equation as a function of the flow gradient.

关键词： foundation     bearing capacity     limit analysis     numerical computation     plasticity     seepage    

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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

《机械工程前沿（英文）》 2011年 第6卷 第1期   页码 61-70 doi: 10.1007/s11465-011-0206-2

摘要：

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.

关键词： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test     HR-degeneracy test    

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Preparing construction supply chains for blockchain technology: An investigation of its potential and

Algan TEZEL, Eleni PAPADONIKOLAKI, Ibrahim YITMEN, Per HILLETOFTH

《工程管理前沿（英文）》 2020年 第7卷 第4期   页码 547-563 doi: 10.1007/s42524-020-0110-8

摘要： Blockchain, a peer-to-peer, controlled, distributed database structure, has the potential to profoundly affect current business transactions in the construction industry through smart contracts, cryptocurrencies, and reliable asset tracking. The construction industry is often criticized for being slow in embracing emerging technologies and not effectively diffusing them through its supply chains. Often, the extensive fragmentation, traditional procurement structures, destructive competition, lack of collaboration and transparency, low-profit margins, and human resources are shown as the main culprits for this. As blockchain technology makes its presence felt strongly in many other industries like finance and banking, this study investigates the preparation of construction supply chains for blockchain technology through an explorative analysis. Empirical data for the study were collected through semi-structured interviews with 17 subject experts. Alongside presenting a strengths, weaknesses, opportunities, and threats analysis (SWOT), the study exhibits the requirements for and steps toward a construction supply structure facilitated by blockchain technology.

关键词： blockchain     smart contract     supply chain management     project management     construction    

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Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

Xinjun LIU, Xiang CHEN, Zhidong LI

《机械工程前沿（英文）》 2012年 第7卷 第2期   页码 199-209 doi: 10.1007/s11465-012-0315-6

摘要：

Due to the demand of reconfigurable system in parallel kinematic machines (PKMs), modular design technology is significant and necessary. However, in earlier research, the core joint modules have been concerned about rather than the customized link modules. The modular design to the typical customized links from the point of seeking optimal structures with best mechanical performances is analyzed and processed in two steps: classification and optimization. Firstly, a brief introduction to the current research status and the aims of this paper are outlined. And then, how the typical customized links classified is proposed. Next, the technology method and the iterative formula derivation process of topology optimization are described in detail. Finally, calculation models for each group of classified ones are set up and their optimal structures are achieved through topology optimization technique. The results provide useful references for reconfigurable and modular design in engineering cases.

关键词： parallel kinematic machines (PKMs)     modular design     classification     topology optimization and improved Guide-Weight method    

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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

摘要：

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    

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标题 作者 时间 类型 操作

Loop theory and applications to some key problems of kinematic structure of kinematic chains

Huafeng DING, Zhen HUANG

期刊论文

Balancing resilience and efficiency in supply chains: Roles of disruptive technologies under Industry

期刊论文

Levelized costs of the energy chains of new energy vehicles targeted at carbon neutrality in China

期刊论文

Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

期刊论文

Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

期刊论文

Improving the resilience of maritime supply chains: The integration of ports and inland transporters

期刊论文

Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

null

期刊论文

Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism

TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin

期刊论文

Resilience strategies for sustainable supply chains under budget constraints in the post COVID-19 era

期刊论文

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

期刊论文

Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis

Mehdi VEISKARAMI, Ghasem HABIBAGAHI

期刊论文

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

期刊论文

Preparing construction supply chains for blockchain technology: An investigation of its potential and

Algan TEZEL, Eleni PAPADONIKOLAKI, Ibrahim YITMEN, Per HILLETOFTH

期刊论文

Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

Xinjun LIU, Xiang CHEN, Zhidong LI

期刊论文

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