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Shape reconstruction of parallelogram flaw

ZHENG Gangfeng, WU Bin, HE Cunfu

《机械工程前沿（英文）》 2008年第3卷第1期页码 17-22 doi: 10.1007/s11465-008-0015-4

摘要： To reconstruct the shape of the scatterer in elastic media, the authors deduce the Born approximation solution of the two-dimensional scattering problem, which includes the shape factor that embodies all information about the shape of the scatterer. Accordingly, the change in the shape of the scatterer only necessitates the number of the corresponding new shape factors. For a parallelogram void in a long Al rod, its shape factor can be obtained. In view of the definition of a characteristic function, the shape factor has a corresponding integral representation. Obviously, the shape factor can be considered as a Fourier transform of the characteristic function, which is reconstructed from the inverse Fourier transform. The integral equation is considered as the basic equation to reconstruct the shape of the scatterer. The identification of the geometrical character of a flaw is then given by the two dimensional inverse Born approximation in a low-frequency range. For the parallelogram void, a theoretical calculating identification is performed. At the same time, the numerical results are obtained by the finite element method.

关键词： approximation scatterer scattering problem information inverse

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0722-2

摘要： This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMs) and Bowden cables. The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base. First, this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion. Then, a novel type of one-degree-of-freedom (1-DOF) elbow joint is proposed based on this principle, which is also applied to design the 3-DOF wrist and shoulder joints. Next, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence. After that, both the forward and inverse kinematics of the entire arm are analyzed. Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, joint stiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the arm performance.

关键词： modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design

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Conceptual design of compliant translational joints for high-precision applications

Guangbo HAO,Haiyang LI,Xiuyun HE,Xianwen KONG

《机械工程前沿（英文）》 2014年第9卷第4期页码 331-343 doi: 10.1007/s11465-014-0321-y

摘要：

Compliant translational joints (CTJs) have been extensively used in precision engineering and microelectromechanical systems (MEMS). There is an increasing need for designing higher-performance CTJs. This paper deals with the conceptual design of CTJs via three approaches: parallelogram based method, straight-line motion mechanism based method and combination based method. Typical emerging CTJ designs are reviewed by explaining their design principles and qualitatively analyzing their characteristics. New CTJs are proposed using three approaches, including an asymmetric double parallelogram mechanism with slaving mechanism, several compact and symmetric double parallelogram mechanisms with slaving mechanisms and a general CTJ using the center drift compensation and a CTJ using Roberts linkage and several combination designs. This paper provides an overview of the current advances/progresses of CTJ designs and lays the foundation for further optimization, quantitative analysis and characteristic comparisons.

关键词： compliant mechanisms translational joints conceptual design parallelogram straight-line motion combination method

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Mechatronic design of a novel linear compliant positioning stage with large travel range and high out-of-plane payload capacity

Hua LIU, Xin XIE, Ruoyu TAN, Lianchao ZHANG, Dapeng FAN

《机械工程前沿（英文）》 2017年第12卷第2期页码 265-278 doi: 10.1007/s11465-017-0453-y

摘要：

Most of the XY positioning stages proposed in previous studies are mainly designed by considering only a single performance indicator of the stage. As a result, the other performance indicators are relatively weak. In this study, a 2-degree-of-freedom linear compliant positioning stage (LCPS) is developed by mechatronic design to balance the interacting performance indicators and realize the desired positioning stage. The key parameters and the coupling of the structure and actuators are completely considered in the design. The LCPS consists of four voice coil motors (VCMs), which are conformally designed for compactness, and six spatial leaf spring parallelograms. These parallelograms are serially connected for a large travel range and a high out-of-plane payload capacity. The mechatronic model is established by matrix structural analysis for structural modeling and by Kirchhoff’s law for the VCMs. The sensitivities of the key parameters are analyzed, and the design parameters are subsequently determined. The analytical model of the stage is confirmed by experiments. The stage has a travel range of 4.4 mm× 7.0 mm and a 0.16% area ratio of workspace to the outer dimension of the stage. The values of these performance indicators are greater than those of any existing stage reported in the literature. The closed-loop bandwidth is 9.5 Hz in both working directions. The stage can track a circular trajectory with a radius of 1.5 mm, with 40 mm error and a resolution of lower than 3 mm. The results of payload tests indicate that the stage has at least 20 kg out-of-plane payload capacity.

关键词： mechatronic design linear compliant positioning stage large travel range high out-of-plane payload capacity spatial parallelogram voice coil motor sensitivity analysis