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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

摘要： The circular test provides a rapid and efficient way of measuring the contouring accuracy of a machine tool. To get the actual point coordinate in the work plane, an improved measurement instrument - a new ball bar test system - is presented in this paper to identify both the radial error and the rotation angle error when the machine is manipulated to move in circular traces. Based on the measured circular error, a combination of Fourier components is chosen to represent the systematic form error that fluctuates in the radial direction. The typical motion errors represented by the corresponding Fourier components can thus be identified. The values for machine compensation can be calculated and adjusted until the desired results are achieved.

关键词： machine compensation direction combination desired efficient

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Design, analysis, and neural control of a bionic parallel mechanism

《机械工程前沿（英文）》 2021年第16卷第3期页码 468-486 doi: 10.1007/s11465-021-0640-8

摘要： Although the torso plays an important role in the movement coordination and versatile locomotion of mammals, the structural design and neuromechanical control of a bionic torso have not been fully addressed. In this paper, a parallel mechanism is designed as a bionic torso to improve the agility, coordination, and diversity of robot locomotion. The mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate the bending and stretching of an animal’s torso during walking and running. The overall spatial motion performance of the parallel mechanism is improved by optimizing the structural parameters. Based on this structure, the rhythmic motion of the parallel mechanism is obtained by supporting state analysis. The neural control of the parallel mechanism is realized by constructing a neuromechanical network, which merges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism for different motion patterns. Experimental results show that the complete integrated system can be controlled in real time to achieve proper limb–torso coordination. This coordination enables several different motions with effectiveness and good performance.

关键词： neural control behavior network rhythm motion pattern

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Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

《机械工程前沿（英文）》 2014年第9卷第4期页码 295-307 doi: 10.1007/s11465-014-0317-7

摘要：

This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.

关键词： quadruped robot actuated joints selection kinematics analysis motion planning parallel manipulator

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Motion-based analysis for construction workers using biomechanical methods

Xincong YANG, Yantao YU, Heng LI, Xiaochun LUO, Fenglai WANG

《工程管理前沿（英文）》 2017年第4卷第1期页码 84-91 doi: 10.15302/J-FEM-2017004

摘要： Sustaining awkward postures and overexertion are common factors in construction industry that result in work-related injuries of workers. To address there safety and health issues, conventional observational methods on the external causes are tedious and subjective, while the direct measurement on the internal causes is intrusive leading to productivity reduction. Therefore, it is essential to construct an effective approach that maps the external and internal causes to realize the non-intrusive identification of safety and health risks. This research proposes a theoretical method to analyze the postures tracked by videos with biomechanical models. Through the biomechanical skeleton representation of human body, the workload and joint torques are rapidly and accurately evaluated based on the rotation angles of joints. The method is then demonstrated by two case studies about (1) plastering and (2) carrying. The experiment results illustrate the changing intramuscular torques across the construction activities in essence, validating the proposed approach to be effective in theory.

关键词： biomechanical method motion-based analysis construction worker muscular torques workload

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Seismic ground motion analysis of Shanghai Pudong Airport site considering the effects of spatial correlation

JIANG Tong, CHEN Laiyun, XING Hailing, L? Xilin

《结构与土木工程前沿（英文）》 2007年第1卷第4期页码 430-435 doi: 10.1007/s11709-007-0058-3

摘要： The terminal No. II of Shanghai Pudong International Airport is located at Pudong District of Shanghai City near shore of East China Sea, and the area of the long-span terminal is 400 m × 200 m. The construction site of the terminal locates on the irregular topography, and its alluvium achieves about 300 m in thickness. The spatial correlation of seismic ground motion, as well as the amplification of soft alluvium and the effect of irregular topography, should be considered. This paper uses a simplified method to obtain the response spectrum of the engineering bedrock under the irregular topography. The spectrum is used to generate the sets of spatially correlative horizontal and vertical seismic motions. The surface ground motion was calculated under incidence of the spatially correlative seismic motion by 2D finite element method (FEM) model considering nonlinear properties of the soil by means of the equivalent linear method. In order to compare the effect of 2D irregular topography, the seismic response analysis of 1D model is carried out by using the equivalent linear method. For indicating the effect of the spatial correlation of input motions, the horizontal uniform inputs, as well as the horizontal and vertical uniform input are carried out for the seismic response analysis of the site. Finally, some characteristics of seismic ground motion calculated for previously mentioned cases are compared.

关键词： surface ground horizontal uniform Finally seismic ground correlative seismic

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

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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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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Piezoelectric film-actuated motion platform with high resolution

HUA Shunming, ZHANG Hongzhuang, CHENG Guangming, FAN Zunqiang, LIU Jianfang

《机械工程前沿（英文）》 2008年第3卷第3期页码 265-269 doi: 10.1007/s11465-008-0041-2

摘要： A piezoelectric film-actuated motion platform with high resolution, which can run in two directions within a horizontal plane, is presented. On the basis of the analysis of the working principle of a stick-slip mechanism, a mathematical model describing its dynamic behavior is set up and simulated. Experiments of the motion performance and carrying ability on the prototype are conducted. Results show that this type of platform has advantages including a simple structure, small volume, light weight, stable step length, and large traveling range. When the driving voltage is less than 30 V, step error is less than 0.5 ?m. The carrying ability of the platform is terrific and about 7–8 times its weight.

关键词： mathematical stick-slip mechanism piezoelectric film-actuated analysis terrific

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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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利用编织熵探测人群运动的相互作用/复杂程度 Research Papers

Murat AKPULAT, Murat EKİNCİ

《信息与电子工程前沿（英文）》 2019年第20卷第6期页码 849-861 doi: 10.1631/FITEE.1800313

摘要：在群体分析领域中，图像运动与非运动区域分割对理解大众行为至关重要。在许多研究中，相似的运动可根据位置、彼此邻接、方向及平均速度分割。然而，这样的分割不可能反过来表明各自区域内相同行为类型。本文目的是通过局部测量分割片段内的相互作用/复杂程度，更好地理解大众行为。为此，图像中运动的流动主要由一系列轨迹表达，且图像被分割为诸多六边形单元。根据各单元不同投影角度，可计算出有限时间编织熵（FTBE）值。该值取决于运动轨迹螺旋形结构的复杂性，并展示了行人间相互作用程度。本文将分割片段内所确定的不同复杂度的行为视作整体上的相似运动，测试了49个来自UCF和CUHK数据库的不同视频系列。

关键词：大众行为；运动分割；运动熵；群体场景分析；复杂度检测；编织熵

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot cable-driven linear actuator parallel robot stiffness analysis

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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

摘要：

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

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新型潜艇作战系统TMA功能设计

任克明,潘悦,王岩

《中国工程科学》 1999年第1卷第3期页码 31-34

摘要：

文章在新型潜艇全综合、分布式作战系统的体系结构下，以声纳信息作为主要信息源，综述了纯方位TMA、多信息融合TMA、方位-多普勒TMA、噪声能量-方位联合估距、与匹配场声源定位相结合等几种实现TMA的方法，在此基础上对TMA功能提出了新设想，初步提出了一种TMA的功能设计。该功能设计从作战系统的角度出发开发TMA功能，充分利用了多传感器获得的信息，以及人的主观判断，增强了TMA的能力，使它能够更好地为指挥员战术决策服务，为武器的发射控制提供更加精确的目标运动要素解算结果。与通常的TMA设计相比，该项设计能够识别目标机动，增加了人机交互功能，并设计了便于观看TMA结果、监视目标机动和执行交互式跟踪改进的TMA显示画面。

关键词：运动目标分析潜艇作战系统显示

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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

摘要： Continuum robot has attracted extensive attention since its emergence. It has multi-degree of freedom and high compliance, which give it significant advantages when traveling and operating in narrow spaces. The flexural virtual-center of motion (VCM) mechanism can be machined integrally, and this way eliminates the assembly between joints. Thus, it is well suited for use as a continuum robot joint. Therefore, a design method for continuum robots based on the VCM mechanism is proposed in this study. First, a novel VCM mechanism is formed using a double leaf-type isosceles-trapezoidal flexural pivot (D-LITFP), which is composed of a series of superimposed LITFPs, to enlarge its stroke. Then, the pseudo-rigid body (PRB) model of the leaf is extended to the VCM mechanism, and the stiffness and stroke of the D-LITFP are modeled. Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot. Finally, experiments and simulations are used to validate the accuracy and validity of the PRB model by analyzing the performance (stiffness and stroke) of the VCM mechanism. Furthermore, the motion performance of the designed continuum robot is evaluated. Results show that the maximum stroke of the VCM mechanism is approximately 14.2°, the axial compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot is approximately ±1.47° (bending angle) and ±2.46° (bending direction).

关键词： VCM mechanism continuum robot flexural joint pseudo-rigid body model cable-driven