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Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 120-134 doi: 10.1007/s11465-012-0321-8

Abstract:

In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the directkinematics and to increase the operational, i.e., singularity-free, workspace is demonstrated.The relationship between the redundancy and the operational workspace is studied and several analysis

Keywords： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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Optimum design and preliminary experiments of a novel parallel end traction apparatus for upper-limb rehabilitation

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 726-746 doi: 10.1007/s11465-021-0651-5

Abstract: In the established source of nondimensional parameter synthesis, the singularity, maximum continuousworkspace, and performance variation trends are analyzed.

Keywords： parallel mechanism     upper-limb rehabilitation     singularity and workspace analyses     performance evaluation    

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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: Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently

Keywords： parallel manipulator     schoenflies motion     kinematics     singularity     workspace     performance index    

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Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 70-79 doi: 10.1007/s11465-013-0365-4

Abstract: The paper will demonstrate that with this parallel structure, one can obtain the necessary workspaceThe robot workspace was generated using the inverse geometric model.An in-depth study of different types of singularity is performed, allowing the development of safe control

Keywords： parallel robot     minimally invasive surgery     kinematics     simulation    

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Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0695-1

Abstract: Second, singular configurations are identified, and the resulting singularity curve is obtained.Lastly, the workspace of TPM is analyzed, and the relationship between the singular configurations andthe reachable workspace is explored.The workspace of the 3-CRR (C denotes the cylindrical joint and R denotes the revolute joint) translationalmechanism is also presented to prove that the proposed TPM has a fairly large workspace.

Keywords： translational parallel mechanism     single loop     multiple driving system     workspace analysis     singularity    

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Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 4,   Pages 397-408 doi: 10.1007/s11465-011-0228-9

Abstract:

In this paper, a topology is presented for feasible workspace regions in general two-revolute manipulatorsThe design problem and concept of feasible workspace regions have been discussed as linked to each otherDesign equations are formulated by arbitrarily prescribing four workspace boundary points.The so-called feasible workspace regions are the intersection of three different sub-regions, which aregiven by constraint curves as function of the relative positions of three workspace boundary points.

Keywords： workspace     two-revolute manipulators     topology analysis     design    

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Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 4,   Pages 379-385 doi: 10.1007/s11465-009-0075-0

Abstract: Singularity analysis plays an important role in the design of robots, especially for parallel robots.Singularity loci in the joint space and Cartesian space are plotted according to the Jacobin of the mechanismResult shows that the singularity loci at the joint space are two circles and one line, whereas at the

Keywords： 2-DOF orthogonal spherical parallel mechanism     singularity loci     self-motions    

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Strain localization analyses of idealized sands in biaxial tests by distinct element method

Mingjing JIANG, Hehua ZHU, Xiumei LI,

Frontiers of Structural and Civil Engineering 2010, Volume 4, Issue 2,   Pages 208-222 doi: 10.1007/s11709-010-0025-2

Abstract: This paper presents a numerical investigation on the strain localization of an idealized sand in biaxial compression tests using the distinct element method (DEM). In addition to the dilatancy and material frictional angle, the principal stress field, and distributions of void ratio, particle velocity, and the averaged pure rotation rate (APR) in the DEM specimen are examined to illustrate the link between microscopic and macroscopic variables in the case of strain localization. The study shows that strain localization of the granular material in the tests proceeds with localizations of void ratio, strain and APR, and distortions of stress field and force chains. In addition, both thickness and inclination of the shear band change with the increasing of axial strain, with the former valued around 10–14 times of mean grain diameter and the later overall described by the Mohr-Coulomb theory.

Keywords： idealized sand     strain localization     numerical analyses     distinct element method (DEM)    

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Exergy and exergoeconomic analyses for integration of aromatics separation with aromatics upgrading

Frontiers of Chemical Science and Engineering 2023, Volume 17, Issue 2,   Pages 183-193 doi: 10.1007/s11705-022-2192-9

Abstract: Exergy and exergoeconomic analyses are conducted to give insights in the splitting ratios of benzene,

Keywords： aromatics separation and upgrading     variant splitting ratios     total exergy destruction     total product unit cost    

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Numerical and experimental analyses of methane leakage in shield tunnel

Frontiers of Structural and Civil Engineering   Pages 1011-1020 doi: 10.1007/s11709-023-0956-z

Abstract: Tunnels constructed in gas-bearing strata are affected by the potential leakage of harmful gases, such as methane gas. Based on the basic principles of computational fluid dynamics, a numerical analysis was performed to simulate the ventilation and diffusion of harmful gases in a shield tunnel, and the effect of ventilation airflow speed on the diffusion of harmful gases was evaluated. As the airflow speed increased from 1.8 to 5.4 m/s, the methane emission was diluted, and the methane accumulation was only observed in the area near the methane leakage channels. The influence of increased ventilation airflow velocity was dominant for the ventilation modes with two and four fans. In addition, laboratory tests on methane leakage through segment joints were performed. The results show that the leakage process can be divided into “rapid leakage” and “slight leakage”, depending on the leakage pressure and the state of joint deformation. Based on the numerical and experimental analysis results, a relationship between the safety level and the joint deformation is established, which can be used as guidelines for maintaining utility tunnels.

Keywords： shield tunnel     harmful gas leakage     numerical analysis     laboratory test    

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Cohesive zone model-based analyses of localized leakage of segmentally lined tunnels

Frontiers of Structural and Civil Engineering 2023, Volume 17, Issue 4,   Pages 503-521 doi: 10.1007/s11709-023-0927-4

Abstract: This paper presents a novel approach for simulating the localized leakage behavior of segmentally lined tunnels based on a cohesive zone model. The proposed approach not only simulates localized leakage at the lining segment, but also captures the hydromechanically coupled seepage behavior at the segmental joints. It is first verified via a tunnel drainage experiment, which reveals its merits over the existing local hydraulic conductivity method. Subsequently, a parametric study is conducted to investigate the effects of the aperture size, stratum permeability, and spatial distribution of drainage holes on the leakage behavior, stratum seepage field, and leakage-induced mechanical response of the tunnel lining. The proposed approach yields more accurate results than the classical local hydraulic conductivity method. Moreover, it is both computationally efficient and stable. Localized leakage leads to reduced local ground pressure, which further induces outward deformation near the leakage point and slight inward deformation at its diametrically opposite side. A localized stress arch spanning across the leakage point is observed, which manifests as the rotation of the principal stresses in the adjacent area. The seepage field depends on both the number and location of the leakage zones. Pseudostatic seepage zones, in which the seepage rate is significantly lower than that of the adjacent area, appear when multiple seepage zones are considered. Finally, the importance of employing the hydromechanical coupled mechanism at the segment joints is highlighted by cases of shallowly buried tunnels subjected to surface loading and pressure tunnels while considering internal water pressure.

Keywords： segmentally lined tunnel     localized leakage     cohesive element     hydraulic behavior     numerical modeling    

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Iterative finite element model of nonlinear viscoplastic analyses for blended granular porous media

WU Yuching, ZHU Cimian

Frontiers of Structural and Civil Engineering 2007, Volume 1, Issue 4,   Pages 464-473 doi: 10.1007/s11709-007-0063-6

Abstract: The iterative finite element model, in which an element is used to represent a single particle, is generated to analyze the global behavior of multiple-material aggregates of materially nonlinear viscoplastic particles. The genera

Keywords： nonlinear viscoplastic     iterative     behavior     multiple-material    

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Image analyses for video-based remote structure vibration monitoring system

Yang YANG,Xiong (Bill) YU

Frontiers of Structural and Civil Engineering 2016, Volume 10, Issue 1,   Pages 12-21 doi: 10.1007/s11709-016-0313-6

Abstract: This paper presents system and analyses to monitor the vibration velocity and displacement field.

Keywords： structure health monitoring     velocity estimation     frame difference     PIV     optical-flow method    

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Design of a Lightweight Force-Feedback Glove with a Large Workspace Article

Yukai Zheng, Dangxiao Wang, Ziqi Wang, Yu Zhang, Yuru Zhang, Weiliang Xu

Engineering 2018, Volume 4, Issue 6,   Pages 869-880 doi: 10.1016/j.eng.2018.10.003

Abstract: Design challenges for such a glove include allowing a large fingertip workspace, providing a desired

Keywords： Force-feedback glove     Lightweight     Large workspace     Pneumatic     Virtual reality    

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A review of recent experimental investigations and theoretical analyses for pulsating heat pipes

Xin TANG, Lili SHA, Hua ZHANG, Yonglin JU

Frontiers in Energy 2013, Volume 7, Issue 2,   Pages 161-173 doi: 10.1007/s11708-013-0250-1

Abstract: current researches in the field are described from the viewpoint of experimental tests, theoretical analysesIn addition, it is also pointed out that the present theoretical analyses of the PHP are restricted byfurther development of two-phase flow theories, and are concentrated in the non-linear analyses.

Keywords： pulsating heat pipe (PHP)     flow visualization     nanofluids     nonlinear analysis    

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Title Author Date Type Operation

Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

Journal Article

Optimum design and preliminary experiments of a novel parallel end traction apparatus for upper-limb rehabilitation

Journal Article

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

Po-Chih LEE, Jyh-Jone LEE

Journal Article

Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

Journal Article

Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

Journal Article

Feasible workspace regions for general two-revolute manipulator

Conghui LIANG, Marco CECCARELLI

Journal Article

Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Journal Article

Strain localization analyses of idealized sands in biaxial tests by distinct element method

Mingjing JIANG, Hehua ZHU, Xiumei LI,

Journal Article

Exergy and exergoeconomic analyses for integration of aromatics separation with aromatics upgrading

Journal Article

Numerical and experimental analyses of methane leakage in shield tunnel

Journal Article

Cohesive zone model-based analyses of localized leakage of segmentally lined tunnels

Journal Article

Iterative finite element model of nonlinear viscoplastic analyses for blended granular porous media

WU Yuching, ZHU Cimian

Journal Article

Image analyses for video-based remote structure vibration monitoring system

Yang YANG,Xiong (Bill) YU

Journal Article

Design of a Lightweight Force-Feedback Glove with a Large Workspace

Yukai Zheng, Dangxiao Wang, Ziqi Wang, Yu Zhang, Yuru Zhang, Weiliang Xu

Journal Article

A review of recent experimental investigations and theoretical analyses for pulsating heat pipes

Xin TANG, Lili SHA, Hua ZHANG, Yonglin JU

Journal Article