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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    

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    

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    

On the improvement design of dynamic characteristics for the roller follower of a variable-speed plate

Hui Ching FAN, Hong Sen YAN

《机械工程前沿(英文)》 2012年 第7卷 第1期   页码 5-15 doi: 10.1007/s11465-012-0310-y

摘要:

Without modifying the cam contour, a cam mechanism with a variable input speed trajectory offers an alternative solution to flexibly achieve kinematic and dynamic characteristics, and then decrease the follower’s residual vibration. Firstly, the speed trajectory of cam is derived by employing Bezier curve, and motion continuity conditions are investigated. Then the motion characteristics between the plate cam and its roller follower are derived. To analyze the residual vibration, a single degree of freedom dynamic model of the elastic cam-follower system is introduced. Based on the motion equation derived from the dynamic model, the residual vibration of the follower is yielded. The design procedure to improve the kinematic and dynamic motion characteristics is presented and two design examples with discussions are provided. Finally, the simulations of the kinematic and dynamic models by ADAMS are carried out and verified that the design models as well as the performances of the mechanism are feasible.

关键词: cam mechanism     variable input speed     kinematic design     dynamic design     optimal design    

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    

Automatic Design Theory and Realization of Kinematic Schemes for Mechanism System

YE Zhi-gang, ZOU Hui-jun, GUO Wei-zhong, HU Song, TIAN Yong-li, XU Yong

《机械工程前沿(英文)》 2006年 第1卷 第1期   页码 48-55 doi: 10.1007/s11465-005-0014-7

摘要:

Based on an analysis of mechanism combination methods of a current mechanism system kinematic scheme, input/output kinematic behavior and their constraint relations were proposed to represent the kinematic behavior knowledge of a mechanism system. Furthermore, a tree structure of a kinematic behavior decomposition process for a mechanism system was provided. Considering multiple outputs for a mechanism system, the matching algorithm and the attributes propagation method of kinematic behavior were used to generate a mechanism combination scheme. Its intermediate design solution and the constraint relations between input and output are generated to fill the common blackboard. Moreover, using information in the blackboard as input motion, the behavior attributes of other process actions are transmitted to attribute items of the blackboard, which finally enables a computer-aided automatic design process of a mechanism system kinematic scheme. To avoid the problem of schemes combination explosion caused by unbounded depth in the search process, bounded depth-first search was used to control the number of expanded hierarchies for a design tree. Finally, an example was given to show its feasibility and solution efficiency.

关键词: combination explosion     unbounded     computer-aided automatic     mechanism combination     information    

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

《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    

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    

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)    

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    

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 XY 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    

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

《机械工程前沿(英文)》 2021年 第16卷 第1期   页码 163-175 doi: 10.1007/s11465-020-0605-3

摘要: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA and a dual bending SPA. By constraining the deformation of the elastomeric chamber, the SPAs realize their prescribed motions, and the deformations subjected to pressures are characterized with numerical models. Experiments are performed for verification, and the results show good agreement. The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors. Control schemes are presented, and crawling tests are performed. The speeds predicted by the numerical models agree well with the speeds in the experiments.

关键词: soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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    

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    

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    

标题 作者 时间 类型 操作

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

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

On the improvement design of dynamic characteristics for the roller follower of a variable-speed plate

Hui Ching FAN, Hong Sen YAN

期刊论文

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

Huafeng DING, Zhen HUANG

期刊论文

Automatic Design Theory and Realization of Kinematic Schemes for Mechanism System

YE Zhi-gang, ZOU Hui-jun, GUO Wei-zhong, HU Song, TIAN Yong-li, XU Yong

期刊论文

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

期刊论文

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

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

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

null

期刊论文

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

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

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