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Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
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《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
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
Stiffness of a 3-degree of freedom translational parallel kinematic machine
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《机械工程前沿（英文）》 2014年 第9卷 第3期 页码 233-241 doi: 10.1007/s11465-014-0312-z
In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machine (PKM) is studied and analyzed whose tool platform has only translations along X-, Y- and Z-axes. It consists of three limbs, each of which have arm and forearm with prismatic-revolute-revolute-revolute (PRRR) joints. Inverse kinematics analysis is carried out to find the slider coordinates and joint angles for a given position of tool platform. Stiffness modeling is done based on the compliance matrices of arm and forearm of each limb. Using the stiffness modeling the variations of minimum and maximum translational stiffness in the workspace are analyzed. For various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum stiffness over the entire workspace is studied; and also the deflections of the tool platform along X, Y, and Z directions with respect to various forces are presented.
关键词： 3-DOF translational PKM inverse kinematics stiffness modeling translational stiffness
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
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)
李铁民,叶佩青,汪劲松
《中国工程科学》 2003年 第5卷 第12期 页码 80-86
以六自由度6-TPS型并联机床为模型，阐述了机床控制数据的生成原理和流程；以此为基础，规划了后置处理器的功能和整体结构。对若干关键技术进行了研究和探讨，包括基于参数化二进制格式的内部数据传输，基于刀轴矢量的笛卡儿空间粗插补算法，三维和二维刀具半径补偿，刀位文件的预处理以及加工代码的词法和语法检查等。最后介绍了利用本系统进行的切削实验，验证了系统的工程实用性。
Kinematic simulation of a parallel NC machine tool in the manufacturing process
ZHANG Jian-min, FAN Yu, JIA Dong-yun, ZOU Qiu-ling, WU Ying
《机械工程前沿（英文）》 2006年 第1卷 第2期 页码 173-176 doi: 10.1007/s11465-006-0020-4
关键词： 6-SPS kinematic simulation manufacturing application significance
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
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
《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0695-1
关键词： translational parallel mechanism single loop multiple driving system workspace analysis singularity
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
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
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
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
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
《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
关键词： generalized parallel mechanism configurable moving platform gripper mechanism type synthesis kinematic analysis
汪劲松,李铁民,段广洪
《中国工程科学》 2002年 第4卷 第6期 页码 63-70
并联构型装备正处于商品化、产业化的关键时期。文章从结构、应用领域、驱动方式、控制等方面阐述了并联构型装备的研究进展，介绍了国际上的一些主要研究计划，分析了产业化进程中的若干关键技术及其可能的解决方案。
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
Kinematic Model Building and Servo Parameter Identification of 3-HSS Parallel Mechanism
YANG Zhi-yong, WU Jiang, HUANG Tian, NI Yan-bing
《机械工程前沿（英文）》 2006年 第1卷 第1期 页码 60-66 doi: 10.1007/s11465-005-0019-2
Aiming at a parallel mechanism with three degrees of freedom, a method for dynamic model building and the parameter identification of its servosystem is presented. First, the reverse solution models of position, velocity, and acceleration of parallelogram branch structure are deduced, and then, its dynamic model of a rigid body is set up by using the virtual work principle. Based on the above model, a method to identify the servo parameter of the parallel mechanism is put up. In this method, the triangle-shaped input with variable frequency is adopted to offset the disadvantages of pseudorandom number sequence in parameter identification, such as dramatically changing the vibration amplitude of the motor, easily impacting the motor that results in its velocity loop to easily open, and so on. Moreover, the rotary inertia can also be identified by the additive mass. The abovementioned data will lay a solid foundation for the optimum performance of the system in the whole workspace.
关键词： building acceleration additive workspace optimum performance
MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping
《机械工程前沿（英文）》 2006年 第1卷 第2期 页码 227-232 doi: 10.1007/s11465-006-0005-3
标题 作者 时间 类型 操作
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
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
Kinematic simulation of a parallel NC machine tool in the manufacturing process
ZHANG Jian-min, FAN Yu, JIA Dong-yun, ZOU Qiu-ling, WU Ying
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
Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures
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
Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization
Xinjun LIU, Xiang CHEN, Zhidong LI
期刊论文
Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility
Fugui XIE,Xin-Jun LIU
期刊论文
Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable
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
Kinematic Model Building and Servo Parameter Identification of 3-HSS Parallel Mechanism
YANG Zhi-yong, WU Jiang, HUANG Tian, NI Yan-bing
期刊论文
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