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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 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
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)
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
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
《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
A dynamic model of mobile concrete pump boom based on discrete time transfer matrix method
Wu REN, Yunxin WU, Zhaowei ZHANG
《机械工程前沿（英文）》 2013年 第8卷 第4期 页码 360-366 doi: 10.1007/s11465-013-0280-8
Mobile concrete pump boom is typical multi-body large-scale motion manipulator. Due to posture constantly change in working process, kinematic rule and dynamic characteristic are difficult to solve. A dynamics model of a mobile concrete pump boom is established based on discrete time transfer matrix method (DTTMM). The boom system is divided into sub-structure A and sub-structure B. Sub-structure A is composed by the 1st boom and hydraulic actuator as well as the support. And sub-structure B is consists of the other three booms and corresponding hydraulic actuators. In the model, the booms and links are regarded as rigid elements and the hydraulic cylinders are equivalent to spring-damper. The booms are driven by the controllable hydraulic actuators. The overall dynamic equation and transfer matrix of the model can be assembled by sub-structures A and B. To get a precise result, step size and integration parameters are studied then. Next the tip displacement is calculated and compared with the result of ADAMS software. The displacement and rotation angle curves of the proposed method fit well with the ADAMS model. Besides it is convenient in modeling and saves time. So it is suitable for mobile concrete pump boom real-time monitoring and dynamic analysis. All of these provide reference to boom optimize and engineering application of such mechanisms.
关键词： multi-body mobile concrete pump boom discrete time transfer matrix method (DTTMM) kinematic dynamic tip displacement
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
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
《机械工程前沿（英文）》 2021年 第16卷 第1期 页码 163-175 doi: 10.1007/s11465-020-0605-3
关键词： soft robot soft pneumatic actuator kinematic model crawling robot modular design
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
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
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
Stiffness of a 3-degree of freedom translational parallel kinematic machine
null
《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
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
标题 作者 时间 类型 操作
Loop theory and applications to some key problems of kinematic structure of kinematic chains
Huafeng DING, Zhen HUANG
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
Structural optimization of typical rigid links in a parallel kinematic machine
Xinjun LIU, Zhidong LI, Xiang CHEN
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
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
期刊论文
A dynamic model of mobile concrete pump boom based on discrete time transfer matrix method
Wu REN, Yunxin WU, Zhaowei ZHANG
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
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
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
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
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
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