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Kinematical synthesis of an inversion of the double linked fourbar for morphing wing applications

J. AGUIRREBEITIA, R. AVILéS, I. FERNáNDEZ, M. ABASOLO

《机械工程前沿（英文）》 2013年 第8卷 第1期   页码 17-32 doi: 10.1007/s11465-013-0364-5

摘要：

This paper presents the kinematical features of an inversion of the double linked fourbar for morphing wing purposes. The structure of the mechanism is obtained using structural synthesis concepts, from an initial conceptual schematic. Then, kinematic characteristics as instant center of rotation, lock positions, dead point positions and uncertainty positions are derived for this mechanism in order to face the last step, the dimensional synthesis; in this sense, two kinds of dimensional synthesis are arranged to guide the wing along two positions, and to fulfill with the second one some aerodynamic and minimum actuation energy related issues.

关键词： morphing wing     structural synthesis     dimensional synthesis     geometrical kinematics    

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Application and evaluation of optical distance measurements in geometrical quality testing of microgears

Albert ALBERS, Duotai PAN, Leif MARXEN, Claudia BECKE,

《机械工程前沿（英文）》 2010年 第5卷 第3期   页码 261-269 doi: 10.1007/s11465-010-0100-3

摘要： Microgears are increasingly important in industry. Compared to normal gears, the quality assurance of microgears needs more accurately measured data and simple but feasible measurement methods because of their dimension particula

关键词： microgear     optical distance measurement     profile deviation     CWL sensor     micromechanical technology (MMT)    

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The role of geometrical features in the architectural-structural interaction: Some case studies of the

Maryam ZANDIYEHVAKILI, Isa HOJAT, Mehdi MAHMUDI

《结构与土木工程前沿（英文）》 2019年 第13卷 第3期   页码 716-724 doi: 10.1007/s11709-018-0508-0

摘要： This research aims to enhance the interaction between a structure and its architectural form. Having a qualitative approach, the present work discovers some successfully used geometrical features of the Iranian ancient architecture in terms of the architectural-structural interaction. We define four qualitative criteria for this assessment, i.e., construction-ability, cost effectiveness, participation of the structure in fulfillment of the visual, and functional-semantic needs of the architectural form. For this purpose, two case studies including the Jamé Mosque of Isfahan and the Soltaniyeh building are investigated. The outcomes of this research help designers to not only design efficient structures by adapting non-load bearing elements with the general form of the structure, but also meet concepts such as the unity or perfectionism in the structure.

关键词： architectural-structural interaction     geometrical features     structure     architectural form     Iranian ancient architecture    

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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

摘要：

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    

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Enhancing power generation of piezoelectric bimorph device through geometrical optimization

Action NECHIBVUTE,Albert CHAWANDA,Pearson LUHANGA

《能源前沿（英文）》 2015年 第9卷 第2期   页码 246-246 doi: 10.1007/s11708-015-0360-z

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Contact of surfaces and contact characteristics of offset surfaces

CAO Lixin, GONG Hu, LIU Jian

《机械工程前沿（英文）》 2008年 第3卷 第3期   页码 318-324 doi: 10.1007/s11465-008-0067-5

摘要： Based on differential geometry, the contact problems of two surfaces are discussed in this paper. The relationship between the contact status of two surfaces and that of offset surfaces are also analyzed. For a 5-axis NC machining, some research such as optimization of cutter location and calculation of the geometrical cusp height are important. The research results indicate that the relative normal curvature is an important geometrical invariant for describing the contact state of two surfaces. For point contact two surfaces, the calculation equation for the second order remained error is given. For line contact two surfaces, the condition of the second order line contact is that the principal directions and curvatures of the two surfaces are the same along the contact curve. If two surfaces keep the second order line contact, their two offset surfaces will also keep the second order line contact, and their third order remained errors are also uniform with that of the two offset surfaces.

关键词： relative     important geometrical     relationship     geometrical invariant     calculation    

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Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant

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

摘要： The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization (BBO) is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization (HBBO) algorithm, which is based on BBO and differential evolution (DE), is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and DE/best/1/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an example. The end-effector error (position and orientation) and the ‘away limitation level’ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.

关键词： Inverse kinematics problem     8-DOF humanoid manipulator     Biogeography-based optimization (BBO)     Differential evolution (DE)    

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Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 184-194 doi: 10.1007/s11465-016-0385-y

摘要：

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snap-through and the single joint hyperflexion, which are the two breakdowns most frequently observed during experimentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.

关键词： tendon-driven fingers     mechanical finger design     under-actuated mechanical systems    

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Geometrical nonlinear deformation model and its experimental study on bimorph giant magnetostrictive

LIU Wei, JIA Zhenyuan, WANG Fuji, ZHANG Yongshun, GUO Dongming

《机械工程前沿（英文）》 2008年 第3卷 第3期   页码 313-317 doi: 10.1007/s11465-008-0048-8

摘要： The geometrical nonlinearity of a giant magnetostrictive thin film (GMF) can be clearly detected under the magnetostriction effect. Thus, using geometrical linear elastic theory to describe the strain, stress, and constitutive relationship of GMF is inaccurate. According to nonlinear elastic theory, a nonlinear deformation model of the bimorph GMF is established based on assumptions that the magnetostriction effect is equivalent to the effect of body force loaded on the GMF. With Taylor series method, the numerical solution is deduced. Experiments on TbDyFe/Polyimide (PI)/SmFe and TbDyFe/Cu/SmFe are then conducted to verify the proposed model, respectively. Results indicate that the nonlinear deflection curve model is in good conformity with the experimental data.

关键词： magnetostrictive     nonlinear     magnetostriction     inaccurate     geometrical nonlinearity    

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Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics

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

摘要：

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    

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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

摘要： The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblems based on the product of exponential model. However, the simple combination of subproblems cannot solve all the inverse kinematics problems, and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship. The novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper. The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems. The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship. The inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics. Huaque III minimally invasive surgical robot is used as the experimental platform for the simulation, and a master–slave tracking experiment is conducted to verify the NAG methods. The simulation result shows the inverse solutions and six sets given joint angles are consistent. Additionally, the mean and maximum of the master–slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm, respectively, while the mean and maximum of the master–slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm, respectively. The experiments results demonstrate that the closed-form solution is superior to the compensation method. The results verify the proposed general closed-form inverse kinematics based on the NAG methods.

关键词： inverse kinematics     Paden–Kahan subproblems     three-joint subproblems     product of exponential     closed-form solution    

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Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

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

摘要：

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    

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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

摘要： For reconfigurable robots, the automatic generation of inverse kinematics is a key problem, because such robots may assume various configurations. In this paper, the screw and product-of-exponentials (POE) formula are used to model the kinematics of reconfigurable robots. The POE formula can be converted to canonical subproblems through decomposition and adjoint transformation. Three classes and 28 types of subproblems containing geometric or algebraic solutions are identified and solved, which can be reused in different configurations. A generalized, decomposable, and reusable approach for close-form inverse kinematics of reconfigurable robots is developed based on POE and subproblems. The effectiveness of this method is shown in an example.

关键词： different     effectiveness     generation     reconfigurable     algebraic    

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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

摘要： This paper analyzed the inverse kinematics for the new Parallel rotate slider- axes (PRS-) style hybrid machining tool and educed the five axes linkage inverse kinematics transform formula on the basis of the coordinates of the and virtual axes. The program for the PRS-XY style hybrid machining tool in accordance with the program manner for the common numerical control (NC) machine tool was made. The results of the experiments prove that the inverse kinematics transform formula is correct.

关键词： numerical     accordance     transform formula     virtual     slider-    

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一种改进BP算法在机械手逆运动学中的应用

吴爱国,郝润生

《中国工程科学》 2005年 第7卷 第7期   页码 34-38

摘要：

通过对传统BP算法的分析，提出了一种改进激励函数的学习方法，并且在神经网络的每一层采用不同的学习速率，以提高训练速度；采用所提出的改进BP算法，训练多层前向神经网络，建立机械手逆运动学模型，仿真结果表明了该算法的有效性；与传统BP算法相比，大大提高了机械手逆运动学的精度。

关键词： 神经网络     BP算法     激励函数     机械手     逆运动学    

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标题 作者 时间 类型 操作

Kinematical synthesis of an inversion of the double linked fourbar for morphing wing applications

J. AGUIRREBEITIA, R. AVILéS, I. FERNáNDEZ, M. ABASOLO

期刊论文

Application and evaluation of optical distance measurements in geometrical quality testing of microgears

Albert ALBERS, Duotai PAN, Leif MARXEN, Claudia BECKE,

期刊论文

The role of geometrical features in the architectural-structural interaction: Some case studies of the

Maryam ZANDIYEHVAKILI, Isa HOJAT, Mehdi MAHMUDI

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

Enhancing power generation of piezoelectric bimorph device through geometrical optimization

Action NECHIBVUTE,Albert CHAWANDA,Pearson LUHANGA

期刊论文

Contact of surfaces and contact characteristics of offset surfaces

CAO Lixin, GONG Hu, LIU Jian

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 suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

期刊论文

Geometrical nonlinear deformation model and its experimental study on bimorph giant magnetostrictive

LIU Wei, JIA Zhenyuan, WANG Fuji, ZHANG Yongshun, GUO Dongming

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

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

一种改进BP算法在机械手逆运动学中的应用

吴爱国,郝润生

期刊论文