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Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 451-467 doi: 10.1007/s11465-021-0634-6

Abstract: A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of

Keywords： redundant actuation     parallel manipulator     linkage–cam mechanism     Jacobian     optimal design    

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Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 150-162 doi: 10.1007/s11465-012-0325-4

Abstract:

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a

Keywords： spherical parallel manipulator (SPM)     anastomosis     haptic     motion capture     optimization     workspace     dexterity    

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Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0743-x

Abstract: Most parallel manipulators have multiple solutions to the direct kinematic problem.study investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallelmanipulator.The direct kinematic problem of the manipulator yields a quartic polynomial equation.

Keywords： planar parallel manipulator     assembly changing motions     cusp points     quartic polynomial     discriminant    

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Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 295-307 doi: 10.1007/s11465-014-0317-7

Abstract: manipulator in quadruple stance phase.manipulator.manipulator is established.The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelveThe inverse and forward displacement analysis of the parallel manipulator is carried out using the method

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

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Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 163-187 doi: 10.1007/s11465-012-0324-5

Abstract:

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 (degreeThe three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHwThe kinematic equations are first introduced for each manipulator.The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application

Keywords： parallel manipulator     schoenflies motion     kinematics     singularity     workspace     performance index    

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Research and Development in the Field of Parallel Kinematic Machines

Wang Jinsong,Li Tiemin,Duan Guanghong

Strategic Study of CAE 2002, Volume 4, Issue 6,   Pages 63-70

Abstract:

Parallel kinematic machines are in the process of industrialization.In this paper, research and development of parallel kinematic machines is investigated from various aspects

Keywords： parallel manipulator     parallel kinematic machines(PKM)     drive     control system    

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract: The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallelmanipulator architecture.

Keywords： study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism     3-UPU parallelmanipulator    

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Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom

MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 2,   Pages 227-232 doi: 10.1007/s11465-006-0005-3

Abstract: This paper analyzes the precision of the dissymmetrical parallel mechanism of 3-RRRP(4R) with three translationalThe parallel mechanism has weakly-coupled, decoupled and real-time characteristics, thus error compensationThe influencing factors of the manipulator s precision are studied carefully and the means to enhance

Keywords： manipulator     nonlinear     δθ     influence     differential    

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Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational angles

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 1,   Pages 66-80 doi: 10.1007/s11465-019-0570-x

Abstract: The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machineThis paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle headsA class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with thekinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel

Keywords： parallel mechanism     redundant mechanism     large rotational angles     machine tools     2R1T spindle head     collaborativemanipulator    

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 435-450 doi: 10.1007/s11465-021-0630-x

Abstract: Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese SpaceStation Remote Manipulator System.the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulatorEMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator

Keywords： 7-DOF redundant manipulator     inverse kinematics     semi-analytical     arm angle     link offset    

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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 698-710 doi: 10.1007/s11465-021-0646-2

Abstract: manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulatorThis study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulatorA hybrid series–parallel mechanism is presented to achieve the spherical wrist design, which consistsof two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected seriallyThe 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 109-119 doi: 10.1007/s11465-012-0323-6

Abstract:

Working capacity refers to the velocity output and force output of a manipulator.

Keywords： working capacity     multi-DOF manipulator     capacity polytope     excavating mechanism    

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Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 46-60 doi: 10.1007/s11465-020-0606-2

Abstract: A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combining5PUS-PRPU (P, R, U and S represent prismatic, revolute, universal and spherical joint, respectively) parallel

Keywords： 5-DOF hybrid manipulator     reconfigurable base     large workspace     dimensional synthesis     optimal design    

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Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 3,   Pages 344-353 doi: 10.1007/s11465-011-0227-x

Abstract:

The motion dynamics and accuracy of parallel kinematic machines largely depend on the weights andwork employs the techniques of topology and size optimization to design two typical rigid links of a parallel

Keywords： topology optimization     size optimization     parallel kinematic machine (PKM)    

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A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 336-340 doi: 10.1007/s11465-006-0033-z

Abstract: proposed planning system is composed of several separate fuzzy units, which control individually each manipulatorinfluence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulator

Keywords： manipulator     repelling influence     manipulator configuration     three-degree industrial     simulation    

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Title Author Date Type Operation

Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Journal Article

Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Journal Article

Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Journal Article

Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Journal Article

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Journal Article

Research and Development in the Field of Parallel Kinematic Machines

Wang Jinsong,Li Tiemin,Duan Guanghong

Journal Article

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Journal Article

Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom

MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping

Journal Article

Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational angles

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Journal Article

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Journal Article

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Journal Article

A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

Journal Article

Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Journal Article

Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

Journal Article

A robot fuzzy motion planning approach in unknown environments

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo

Journal Article