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Synthesis of Intermittent-Motion Linkages with Slight Difference in Length Between Links
CHEN Xin-bo, YU Zhen
《机械工程前沿(英文)》 2006年 第1卷 第1期 页码 76-79 doi: 10.1007/s11465-005-0007-6
The design of intermittent-motion linkages using traditional methods is usually complicated. In this paper, (1) a new method for realizing intermittent motion, using linkages with a slight difference in length between links, is studied; (2) some new types of intermittent-motion linkages and their software for visual analysis and design are developed; and (3) influences of some design parameters on intermittent-motion characteristics are clarified. Results confirmed that the theory and the software are useful, making the synthesis of intermittent-motion linkages clear and easy.
关键词: synthesis useful intermittent intermittent-motion traditional
Improving the performances of ultrasonic motors using intermittent contact scheme
Jiamei JIN, Jianhui ZHANG, Fu QIAN, Zhenfeng PAN,
《机械工程前沿(英文)》 2010年 第5卷 第2期 页码 242-246 doi: 10.1007/s11465-010-0016-y
Rongrit CHATTHAWORN,Surachai CHAITUSANEY
《信息与电子工程前沿(英文)》 2015年 第16卷 第10期 页码 871-882 doi: 10.1631/FITEE.1500049
关键词: Adaptive tabu search Renewable energy generation Robust optimization Transmission expansion planning
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
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
Design and modeling of continuum robot based on virtual-center of motion mechanism
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6
关键词: VCM mechanism continuum robot flexural joint pseudo-rigid body model cable-driven
Measurement and analysis of typical motion error traces from a circular test
LI Xiaoli, LIU Huanlao
《机械工程前沿(英文)》 2008年 第3卷 第2期 页码 146-150 doi: 10.1007/s11465-008-0033-2
关键词: machine compensation direction combination desired efficient
Rini NISHANTH, Andrew WHYTE, V. John KURIAN
《工程管理前沿(英文)》 2018年 第5卷 第3期 页码 357-368 doi: 10.15302/J-FEM-2018022
Floating production storage and offloading (FPSO) units increasingly represent a practical and economic means for deep-water oil extraction and production. Systems thinking gives a unique opportunity to seek a balance between FPSO technical performance(s), with whole-cost; stakeholder decision-making is charged to align different fit-for-use design specification options’ that address technical-motion(s), with respective life-cycle cost analyses (LCCA). Soft system methodology allows situation based analyses over set periods-of-time by diagnosing the problem-at-hand; namely, assessing the antecedents of life-cycle cost relative to FPSO sub-component design alternatives. Alternative mooring- component comparisons for either new-build hulls or refurbished hulls represent an initial necessary consideration to facilitate extraction, production and storage of deep-water oil reserves. Coupled dynamic analysis has been performed to generate FPSO motion in six degrees of freedom using SESAM DeepC, while life-cycle cost analysis (LCAA) studies give net-present-value comparisons reflective of market conditions. A parametric study has been conducted by varying wave heights from 4 – 8 m to understand FPSO motion behavior in the presence of wind and current, as well as comparing the motions of turreted versus spread mooring design alternatives. LCCA data has been generated to compare the cost of such different mooring options/hull conditions over 10 and 25-year periods. Systems thinking has been used to explain the interaction of problem variables; resultantly this paper is able to identify explicit factors affecting the choice of FPSO configurations in terms of motion and whole-cost, toward assisting significantly with the front-end engineering design (FEED) phase of fit-for-purpose configured FPSOs, in waters off Malaysia and Australia.
关键词: FPSO LCCA spread/turret-mooring DeepC cost motion soft-systems
Novel probabilistic rolling regular tetrahedron mechanism
Yonghan GUAN, Yan’an YAO, Chao LIU, Ruiming LI
《机械工程前沿(英文)》 2021年 第16卷 第2期 页码 363-378 doi: 10.1007/s11465-020-0628-9
关键词: mobile mechanism probabilistic motion rolling mechanism stochastic motion
Features of seismic hazard in large dam projects and strong motion monitoring of large dams
Martin WIELAND,
《结构与土木工程前沿(英文)》 2010年 第4卷 第1期 页码 56-64 doi: 10.1007/s11709-010-0005-6
关键词: seismic hazard arch dam concrete face rockfill dam strong motion instrumentation reservoir-triggered seismicity Wenchuan earthquake
Hanli WU, Hua ZHAO, Jenny LIU, Zhentao HU
《结构与土木工程前沿(英文)》 2020年 第14卷 第5期 页码 1232-1246 doi: 10.1007/s11709-020-0653-0
关键词: bridge weigh-in-motion continuous bridge fast Fourier transform influence line axle weight calculation
Principle and curve of planetary indexing cam mechanisms
LIU Ming-tao, ZHANG Ce, YANG Yu-hu
《机械工程前沿(英文)》 2006年 第1卷 第4期 页码 475-478 doi: 10.1007/s11465-006-0063-6
关键词: continuity planetary average transmission symmetry intermittent
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
Bing XU, Min CHENG
《机械工程前沿(英文)》 2018年 第13卷 第2期 页码 151-166 doi: 10.1007/s11465-018-0470-5
This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.
关键词: motion control electrohydraulic control energy efficiency mobile machineries
运动规划的高效配置空间构建与优化 Article
潘佳, Dinesh Manocha
《工程(英文)》 2015年 第1卷 第1期 页码 46-57 doi: 10.15302/J-ENG-2015009
配置空间是算法机器人学领域使用较为广泛的一种基本概念。机器人学、计算机辅助设计与相关领域的诸多应用都可归类为配置空间方面的计算问题。本文将对近期与配置空间相关的两项重大挑战的解决方案成果进行探讨:①如何高效计算高维配置空间的近似表达;②如何在高维配置空间内高效执行几何学接近度与运动规划查询。基于机器学习与几何学近似技术,笔者在此提出几种新型配置空间构建算法。上述算法对多个配置样本进行碰撞查询。得出的碰撞查询结果将用来计算配置空间的近似表达,可快速聚合至准确的配置空间;同时还提出了基于并行图形处理器(GPU)的算法,以便加速配置空间优化与搜索计算的性能情况。笔者特别设计出了基于GPU的并行k最近邻算法与并行碰撞检测算法,并使用这些算法来加快运动规划。
关键词: 配置空间 运动规划 图形处理器(GPU)并行算法
标题 作者 时间 类型 操作
Synthesis of Intermittent-Motion Linkages with Slight Difference in Length Between Links
CHEN Xin-bo, YU Zhen
期刊论文
Improving the performances of ultrasonic motors using intermittent contact scheme
Jiamei JIN, Jianhui ZHANG, Fu QIAN, Zhenfeng PAN,
期刊论文
An approach for evaluating the impact of an intermittent renewable energy source on transmission expansion
Rongrit CHATTHAWORN,Surachai CHAITUSANEY
期刊论文
Measurement and analysis of typical motion error traces from a circular test
LI Xiaoli, LIU Huanlao
期刊论文
Floating production storage and offloading systems’ cost and motion performance: A systems thinking application
Rini NISHANTH, Andrew WHYTE, V. John KURIAN
期刊论文
Novel probabilistic rolling regular tetrahedron mechanism
Yonghan GUAN, Yan’an YAO, Chao LIU, Ruiming LI
期刊论文
Features of seismic hazard in large dam projects and strong motion monitoring of large dams
Martin WIELAND,
期刊论文
A filtering-based bridge weigh-in-motion system on a continuous multi-girder bridge considering the influence
Hanli WU, Hua ZHAO, Jenny LIU, Zhentao HU
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
Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future
Bing XU, Min CHENG
期刊论文