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Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

《机械工程前沿（英文）》 2011年第6卷第4期页码 397-408 doi: 10.1007/s11465-011-0228-9

摘要：

In this paper, a topology is presented for feasible workspace regions in general two-revolute manipulators. The design problem and concept of feasible workspace regions have been discussed as linked to each other. Design equations are formulated by arbitrarily prescribing four workspace boundary points. The so-called feasible workspace regions are the intersection of three different sub-regions, which are given by constraint curves as function of the relative positions of three workspace boundary points. By using a parametric study, all topologies for three sub-regions are figured out. Corresponding areas in cross section plane are determined for prescribing the position of a feasible workspace point as function of the topology for sub-regions. A classification has been proposed to determine and to characterize the combination of the topologies for those sub-regions. All topologies for feasible workspace regions are figured out and they are discussed as a design tool. Three general cases are analyzed in details to characterize workspace design capabilities for general two-revolute manipulators.

关键词： workspace two-revolute manipulators topology analysis design

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Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

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

摘要：

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

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Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

《机械工程前沿（英文）》 2006年第1卷第3期页码 329-335 doi: 10.1007/s11465-006-0034-y

摘要： This paper presents a robot manipulator tracking controller based on output feedback linearization. A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities, disturbances and unmodelled dynamics. The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles. The controller design does not need an accurate model of the robot manipulator. Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach. The simulation results show that the proposed controller has more superior tracking control performance, with payload changing in a wide range, in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.

关键词： available comparison unmeasurable nonlinear perturbation observer

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

《机械工程前沿（英文）》 2007年第2卷第2期页码 168-174 doi: 10.1007/s11465-007-0028-4

摘要： To precisely implement the force control of robot manipulators in an unknown environment, a control strategy based on fuzzy prediction of the reference trajectory in the impedance model is developed. The force tracking experiments are executed in an open-architecture control system with different tracking velocities, different desired forces, different contact stiffnesses and different surface figurations. The corresponding force control results are compared and analyzed. The influences of unknown parameters of the environment on the contact force are analyzed based on experimental data, and the tunings of predictive scale factors are illustrated. The experimental results show that the desired trajectory in the impedance model is predicted exactly and rapidly in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control algorithm has high adaptability to the unknown environment.

关键词： predictive tracking corresponding stiffness algorithm

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

《机械工程前沿（英文）》 2007年第2卷第1期页码 110-115 doi: 10.1007/s11465-007-0019-5

摘要： A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control system considerably.

关键词： lower-dimensional nonlinear trajectory tracking diffeomorphism

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基座参数欠精确环境下双机械臂刚体夹持系统的自适应神经鲁棒控制 Research

Fan XU, Jin WANG, Guo-dong LU

《信息与电子工程前沿（英文）》 2018年第19卷第11期页码 1316-1327 doi: 10.1631/FITEE.1601707

摘要：针对基座参数欠精确环境下双机械臂刚体夹持系统的自适应调控问题进行研究。提出一种自适应神经鲁棒控制器，能同时解决基座参数欠精确、系统内力、建模不确定性、关节摩擦以及外部干扰等多种问题。该控制器采用一个径向基神经网络来逼近系统包括非预期内力在内的全部动力学部分。结合仿真实验和分析，该控制器能有效保证轨迹跟踪误差渐进收敛于0，并保持内力在可接受范围。在自适应调节机制下，该方法能对系统中双机械臂进一步在线精确标定。为保证系统全局稳定性，该控制器建立定制化鲁棒补偿，结合李雅普诺夫理论，证明该控制器在基座欠精确以及其他多种不确定环境下的鲁棒性。

关键词：协同机械臂；神经网络；欠精确基座平移坐标；自适应控制；鲁棒控制

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Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

《机械工程前沿（英文）》 2020年第15卷第1期页码 66-80 doi: 10.1007/s11465-019-0570-x

摘要： The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers. This paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension (2D) large rotational angles. In order to construct 2D rotational degrees of freedom (DOF), a platform with 2-dimension revolute joints is proposed first. Based on the constraint screw theory, the feasible limbs that can be connected in the platform are synthesized. In order to provide constant rotational axis for the platform, a class of redundant limbs are designed. A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion. The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform. The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed. The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.

关键词： parallel mechanism redundant mechanism large rotational angles machine tools 2R1T spindle head collaborative manipulator

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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

《机械工程前沿（英文）》 2014年第9卷第4期页码 308-316 doi: 10.1007/s11465-014-0318-6

摘要：

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

关键词： humanoid robots torso design parallel manipulators (PKM) conceptual design

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Carbon dots-based fluorescence sensor for two-photon imaging of pH in diabetic mice

《化学科学与工程前沿（英文）》 2023年第17卷第3期页码 298-306 doi: 10.1007/s11705-022-2212-9

摘要： Herein, a reversible pH fluorescent sensor was developed using caffeic acid as the precursor by one-step solvothermal synthesis method. The carbon dots-based sensor (CA-CDs) exhibited pH-dependent increase in fluorescence intensity and showed linear relationship in the range of pH 6.60 and 8.00. Notably, the fluorescence sensor has a reversible response to pH change. Finally, the CA-CDs has been successfully applied for two-photon imaging of the pH in liver and kidney of diabetic mice. Imaging results showed that the pH value in kidney of diabetic mice was lower than that of the normal mice, while the pH value in liver of diabetic mice was almost the same as that of the normal mice. The present study provides a simple analytical method for pH detection suitable for in vivo.

关键词： carbon dots two-photon imaging pH diabetic mice

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New medical risks affecting obstetrics after implementation of the two-child policy in China

null

《医学前沿（英文）》 2017年第11卷第4期页码 570-575 doi: 10.1007/s11684-017-0552-5

摘要：

China recently instituted a two-child policy in response to its aging population, declining workforce and demographic dividend, and the need to develop asocial economy. Additionally, women generally delay having a second child because of the overwhelming pressure in their lives. With the improvements in assisted fertility technologies in recent years, the number of elderly women attempting to bear children has increased. The quality of woman’s eggs and a man’s sperm declined dramatically with increasing age, leading to an increased risk of pregnancy-related complications among older women. Therefore, the types of fertility problems experienced by elderly females must be provided with considerable attention by obstetricians. This commentary article focuses on the medical problems faced by older second-child pregnant women. This work discusses their increased rates of infertility, spontaneous abortion, fetal malformation, gestational diabetes, cesarean section, placenta previa, postpartum hemorrhage, postpartum depression, and hypertensive disorders, which complicate pregnancy.

关键词： two-child policy birth defects cesarean delivery placenta previa

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Extended two-fluid model applied to analysis of bubbly flow in multiphase rotodynamic pump impeller

Zhiyi YU, Guoyu WANG, Shuliang CAO

《机械工程前沿（英文）》 2009年第4卷第1期页码 53-59 doi: 10.1007/s11465-009-0006-0

摘要： This paper presents an extended two-fluid model based on the Navier-Stokes equations and the standard turbulence model, to simulate the three-dimensional air-water bubbly flow in turbo machinery. In the governing equations, the drag force and added mass force are added and the additional source terms arising from fluctuations of gas volume fraction are considered. The discrete equations are solved using a developed two-phase semi-implicit method for pressure-linked equations, consistent (SIMPLEC) algorithm in body-fitted coordinates with a staggered grid system. Simulation is then carried out for the pure liquid flow and air-water two-phase flow with the inlet gas volume fraction being 15% in a multiphase rotodynamic pump impeller and the pump head performance is predicted. Comparison with experimental results shows the reliability and commonality of the numerical model.

关键词： two-fluid model multiphase rotodynamic pump SIMPLEC algorithm numerical simulation

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

《机械工程前沿（英文）》 2015年第10卷第2期页码 198-210 doi: 10.1007/s11465-015-0335-0

摘要：

Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulators to execute cutting-edge applications. In particular, three kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control and adaptation based approaches, are reviewed. Future trend in the subject area is commented. Open-source simulators to facilitate controller design are also tabulated. With a comprehensive list of references, it is anticipated that the review will act as a first-hand reference for researchers, engineers and industrial-interns to realize the control laws for multi-degree of freedom (DOF) manipulators.

关键词： robot control robust and nonlinear control adaptive control intelligent control industrial manipulators robotic arm

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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

《机械工程前沿（英文）》 2012年第7卷第1期页码 81-92 doi: 10.1007/s11465-012-0309-4

摘要：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

关键词： complex curve seam two robots coordinated welding motion planning

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Simulation of heterogeneous two-phase media using random fields and level sets

George STEFANOU

《结构与土木工程前沿（英文）》 2015年第9卷第2期页码 114-120 doi: 10.1007/s11709-014-0267-5

摘要： The accurate and efficient simulation of random heterogeneous media is important in the framework of modeling and design of complex materials across multiple length scales. It is usually assumed that the morphology of a random microstructure can be described as a non-Gaussian random field that is completely defined by its multivariate distribution. A particular kind of non-Gaussian random fields with great practical importance is that of translation fields resulting from a simple memory-less transformation of an underlying Gaussian field with known second-order statistics. This paper provides a critical examination of existing random field models of heterogeneous two-phase media with emphasis on level-cut random fields which are a special case of translation fields. The case of random level sets, often used to represent the geometry of physical systems, is also examined. Two numerical examples are provided to illustrate the basic features of the different approaches.

关键词： microstructure random fields level sets shape recovery two-phase media

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Modified landfill gas generation rate model of first-order kinetics and two-stage reaction

Jiajun CHEN , Hao WANG , Na ZHANG ,

《环境科学与工程前沿（英文）》 2009年第3卷第3期页码 313-319 doi: 10.1007/s11783-009-0025-4

摘要： This investigation was carried out to establish a new domestic landfill gas (LFG) generation rate model that takes into account the impact of leachate recirculation. The first-order kinetics and two-stage reaction (FKTSR) model of the LFG generation rate includes mechanisms of the nutrient balance for biochemical reaction in two main stages. In this study, the FKTSR model was modified by the introduction of the outflow function and the organic acid conversion coefficient in order to represent the in-situ condition of nutrient loss through leachate. Laboratory experiments were carried out to simulate the impact of leachate recirculation and verify the modified FKTSR model. The model calibration was then calculated by using the experimental data. The results suggested that the new model was in line with the experimental data. The main parameters of the modified FKTSR model, including the LFG production potential (), the reaction rate constant in the first stage (), and the reaction rate constant in the second stage () of 64.746 L, 0.202 d, and 0.338 d, respectively, were comparable to the old ones of 42.069 L, 0.231 d, and 0.231 d. The new model is better able to explain the mechanisms involved in LFG generation.

关键词： landfill gas (LFG) generation rate model first-order kinetics two-stage reaction outflow function