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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
Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism
TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin
《机械工程前沿（英文）》 2007年 第2卷 第2期 页码 214-217 doi: 10.1007/s11465-007-0037-3
关键词： output kinematic group slider-crank kinematic accuracy displacement
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
Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis
Mehdi VEISKARAMI, Ghasem HABIBAGAHI
《结构与土木工程前沿（英文）》 2013年 第7卷 第4期 页码 446-455 doi: 10.1007/s11709-013-0227-5
关键词： foundation bearing capacity limit analysis numerical computation plasticity seepage
Loop theory and applications to some key problems of kinematic structure of kinematic chains
Huafeng DING, Zhen HUANG
《机械工程前沿（英文）》 2009年 第4卷 第3期 页码 276-283 doi: 10.1007/s11465-009-0061-6
关键词： Loop theory kinematic chains isomorphism atlas database
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
《机械工程前沿（英文）》 2011年 第6卷 第1期 页码 45-60 doi: 10.1007/s11465-011-0205-3
In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.
关键词： anthropomimetic design robotic arm cable-driven mechanism kinematic analysis design optimization
《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
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)
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
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
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
Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI
《机械工程前沿（英文）》 2011年 第6卷 第1期 页码 61-70 doi: 10.1007/s11465-011-0206-2
The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.
关键词： assistive robotics non-anthropomorphic wearable robots topology kinematic synthesis HR-isomorphism test HR-degeneracy test
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
Processing of high-precision ceramic balls with a spiral V-groove plate
Ming FENG,Yongbo WU,Julong YUAN,Zhao PING
《机械工程前沿（英文）》 2017年 第12卷 第1期 页码 132-142 doi: 10.1007/s11465-017-0436-z
As the demand for high-performance bearings gradually increases, ceramic balls with excellent properties, such as high accuracy, high reliability, and high chemical durability used, are extensively used for high-performance bearings. In this study, a spiral V-groove plate method is employed in processing high-precision ceramic balls. After the kinematic analysis of the ball-spin angle and enveloped lapping trajectories, an experimental rig is constructed and experiments are conducted to confirm the feasibility of this method. Kinematic analysis results indicate that the method not only allows for the control of the ball-spin angle but also uniformly distributes the enveloped lapping trajectories over the entire ball surface. Experimental results demonstrate that the novel spiral V-groove plate method performs better than the conventional concentric V-groove plate method in terms of roundness, surface roughness, diameter difference, and diameter decrease rate. Ceramic balls with a G3-level accuracy are achieved, and their typical roundness, minimum surface roughness, and diameter difference are 0.05, 0.0045, and 0.105 mm, respectively. These findings confirm that the proposed method can be applied to high-accuracy and high-consistency ceramic ball processing.
关键词： bearing ceramic ball spiral V-groove kinematic analysis trajectory
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
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
Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism
TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin
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
Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis
Mehdi VEISKARAMI, Ghasem HABIBAGAHI
期刊论文
Loop theory and applications to some key problems of kinematic structure of kinematic chains
Huafeng DING, Zhen HUANG
期刊论文
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
期刊论文
Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable
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
Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility
Fugui XIE,Xin-Jun LIU
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
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
A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for
Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI
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
Processing of high-precision ceramic balls with a spiral V-groove plate
Ming FENG,Yongbo WU,Julong YUAN,Zhao PING
期刊论文
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