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Inverse Kinematics Analysis of General 6R Serial Robot Mechanism Based on Groebner Base
WANG Yan, HANG Lu-bin, YANG Ting-li
《机械工程前沿(英文)》 2006年 第1卷 第1期 页码 115-124 doi: 10.1007/s11465-005-0022-7
This study presents a solution for the inverse kinematics problem in serial 6R manipulator. Using only seven equations composed of Duffy s four kinematical equations containing three angles and three corresponding angles identical equations instead of the traditional 14 equations, the authors reduced the inverse kinematics problem in the general 6R manipulator to a univariate polynomial with a minimum degree based on the Groebner Base method. From that, they concluded that the maximum number of the solutions is 16, generally. Also, the mathematics mechanization method can be extended to solve other mechanism problems involving nonlinear equations symbolically.
关键词: identical manipulator univariate polynomial mechanism traditional
Fugui XIE,Xin-Jun LIU
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 135-143 doi: 10.1007/s11465-016-0389-7
This study introduces a high-speed parallel robot with Schönflies motion. This robot exhibits a promising prospect in realizing high-speed pick-and-place manipulation for packaging production lines. The robot has four identical limbs and a single platform. Its compact structure and single-platform concept provides this robot with good dynamic response potential. A line graph method based on Grassmann line geometry is used to investigate the mobility characteristics of the proposed robot. A generalized Blanding rule is also introduced into this procedure to realize mutual conversion between the line graphs for motions and constraints. Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigated using both qualitative and quantitative approaches. Input and output transmission singularity indices are defined based on the reciprocal product in screw theory and the virtual coefficient by considering motion/force transmission performance. Thereafter, the singular loci of the proposed robot with specific geometric parameters are derived. The mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study are helpful in developing the robot.
关键词: parallel robot mobility inverse kinematics singularity transmission performance
Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool
JIA Dongyong, ZHANG Jianmin, SUN Hongchang, NIU Zhigang
《机械工程前沿(英文)》 2007年 第2卷 第2期 页码 235-238 doi: 10.1007/s11465-007-0041-7
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
Research on transmission principle and kinematics analysis for involute spherical gear
PAN Cun-yun, WEN Xi-sen, YANG Kun-yu, XU Xiao-jun, LIU Min, YAO Qi-shui
《机械工程前沿(英文)》 2006年 第1卷 第2期 页码 183-193 doi: 10.1007/s11465-006-0010-6
关键词: rotational transformation orientation Furthermore conjugate number
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
《信息与电子工程前沿(英文)》 2015年 第16卷 第7期 页码 607-616 doi: 10.1631/FITEE.14a0335
关键词: Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential evolution (DE)
Po-Chih LEE, Jyh-Jone LEE
《机械工程前沿(英文)》 2012年 第7卷 第2期 页码 163-187 doi: 10.1007/s11465-012-0324-5
This paper presents the analysis of three parallel manipulators with Schoenflies-motion. Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degree of freedom) in the translational motion and one DOF in rotational motion about a given direction axis with respect to the world coordinate system. The three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHw, CuRuuUhw-//-CvRvvUhwand CuPuUhw-//- CvPvUhw. The kinematic equations are first introduced for each manipulator. Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently derived and analysed for the first time. The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application in industry where pick-and-place motion is required.
关键词: parallel manipulator schoenflies motion kinematics singularity workspace performance index
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
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
Hu SHI, Guofang GONG, Huayong YANG
《机械工程前沿(英文)》 2011年 第6卷 第3期 页码 369-376 doi: 10.1007/s11465-011-0223-1
Focusing on a segment erector of a shield-tunneling machine developed with 6 degrees of freedom (DOF) and controlled by electro-hydraulic proportional systems, the kinematics of the segment erection process is presented. The perturbation method in the error analysis is introduced to establish the position and attitude error model, considering a number of factors such as the hydraulic drive, control accuracy, and tolerance in manufacturing and assembly. Dynamic simulations are carried out to obtain the controlling precision of electrohydraulic drive systems. Formulas for calculating the position and attitude error of the grip hand of the segment erector are derived. The calculation results verify the practicality and effectiveness of the error analysis, providing a foundation for practical designing, manufacturing, and assembling of the segment of the erecting mechanism.
关键词: shield tunneling machine segment erector kinematics position and attitude precision
Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA
《机械工程前沿(英文)》 2013年 第8卷 第1期 页码 70-79 doi: 10.1007/s11465-013-0365-4
In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient’s abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The robot workspace was generated using the inverse geometric model. An in-depth study of different types of singularity is performed, allowing the development of safe control algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.
关键词: parallel robot minimally invasive surgery kinematics simulation
General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of
《机械工程前沿(英文)》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0681-7
关键词: inverse kinematics Paden–Kahan subproblems three-joint subproblems product of exponential closed-form solution
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
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
Generation of closed-form inverse kinematics for reconfigurable robots
ZHAO Jie, WANG Weizhong, GAO Yongsheng, CAI Hegao
《机械工程前沿(英文)》 2008年 第3卷 第1期 页码 91-96 doi: 10.1007/s11465-008-0013-6
关键词: different effectiveness generation reconfigurable algebraic
Oscillation frequency of simplified arterial tubes
Hui AN, Fan HE, Lingxia XING, Xiaoyang LI
《机械工程前沿(英文)》 2009年 第4卷 第3期 页码 300-304 doi: 10.1007/s11465-009-0038-5
关键词: spatial kinematics natural frequency finite element method
标题 作者 时间 类型 操作
Inverse Kinematics Analysis of General 6R Serial Robot Mechanism Based on Groebner Base
WANG Yan, HANG Lu-bin, YANG Ting-li
期刊论文
Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularity
Fugui XIE,Xin-Jun LIU
期刊论文
Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool
JIA Dongyong, ZHANG Jianmin, SUN Hongchang, NIU Zhigang
期刊论文
Motion capability analysis of a quadruped robot as a parallel manipulator
Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI
期刊论文
Research on transmission principle and kinematics analysis for involute spherical gear
PAN Cun-yun, WEN Xi-sen, YANG Kun-yu, XU Xiao-jun, LIU Min, YAO Qi-shui
期刊论文
Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
期刊论文
Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion
Po-Chih LEE, Jyh-Jone LEE
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
Drive system design and error analysis of the 6 degrees of freedom segment erector of shield tunneling
Hu SHI, Guofang GONG, Huayong YANG
期刊论文
Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery
Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA
期刊论文
General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of
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
Generation of closed-form inverse kinematics for reconfigurable robots
ZHAO Jie, WANG Weizhong, GAO Yongsheng, CAI Hegao
期刊论文