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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
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
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
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)
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
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
Soil spatial variability impact on the behavior of a reinforced earth wall
Adam HAMROUNI, Daniel DIAS, Badreddine SBARTAI
《结构与土木工程前沿(英文)》 2020年 第14卷 第2期 页码 518-531 doi: 10.1007/s11709-020-0611-x
关键词: reinforced earth wall geosynthetic random field spatial variability Monte Carlo simulation
Industrial eco-efficiency and its spatial-temporal differentiation in China
Wei YANG, Fengjun JIN, Chengjin WANG, Chen LV
《环境科学与工程前沿(英文)》 2012年 第6卷 第4期 页码 559-568 doi: 10.1007/s11783-012-0400-4
关键词: industrial eco-efficiency data envelopment analysis (DEA) model exploratory spatial data analysis (ESDA)
Border-search and jump reduction method for size optimization of spatial truss structures
Babak DIZANGIAN, Mohammad Reza GHASEMI
《结构与土木工程前沿(英文)》 2019年 第13卷 第1期 页码 123-134 doi: 10.1007/s11709-018-0478-2
关键词: optimum design sensitivity analysis reduction method spatial trusses OpenSees
《环境科学与工程前沿(英文)》 2023年 第17卷 第10期 doi: 10.1007/s11783-023-1724-y
关键词: Microplastic Environmental transport Soil pollution Stormwater Detention ponds
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
Spatial prediction of soil contamination based on machine learning: a review
《环境科学与工程前沿(英文)》 2023年 第17卷 第8期 doi: 10.1007/s11783-023-1693-1
● A review of machine learning (ML) for spatial prediction of soil contamination.
关键词: Soil contamination Machine learning Prediction Spatial distribution
Optimization of spatial structure designs of control rod using Monte Carlo code RMC
《能源前沿(英文)》 2021年 第15卷 第4期 页码 974-983 doi: 10.1007/s11708-021-0769-5
关键词: control rod optimized spatial structure neutronic performance burnup stability
标题 作者 时间 类型 操作
A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator
Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG
期刊论文
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
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
Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics
Fugui XIE,Xin-Jun LIU
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
Soil spatial variability impact on the behavior of a reinforced earth wall
Adam HAMROUNI, Daniel DIAS, Badreddine SBARTAI
期刊论文
Industrial eco-efficiency and its spatial-temporal differentiation in China
Wei YANG, Fengjun JIN, Chengjin WANG, Chen LV
期刊论文
Border-search and jump reduction method for size optimization of spatial truss structures
Babak DIZANGIAN, Mohammad Reza GHASEMI
期刊论文
Abundance, spatial distribution, and physical characteristics of microplastics in stormwater detention
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