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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.In this paper, the direct and inverse kinematics of an orthogonal spherical two-degree-of-freedom parallelmechanism is proposed based on the modified Euler angles.All the singular poses of the mechanism are achieved through the direct kinematic analysis.Self-motions, which are different from the general spherical 5 parallel mechanisms, are also discussed

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

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Reverse driving character of 2-DOF closed chain haptic device

GUO Wei-dong, GUO Xin, ZHANG Yu-ru

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 356-359 doi: 10.1007/s11465-006-0029-8

Abstract: This article mainly investigates the problem of 2-DOF haptic device design f
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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: is introduced by combining the 5PUS-PRPU (P, R, U and S represent prismatic, revolute, universal and sphericaljoint, respectively) parallel mechanism with the 5PRR reconfigurable base to enhance the perfusion efficiencyof the large-scale spherical honeycomb thermal protection layer.Lastly, the optimal structure parameters of the proposed 5-DOF HPM are determined.

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

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Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 4,   Pages 421-425 doi: 10.1007/s11465-008-0063-9

Abstract: closed loop PI control system is designed to achieve high position accuracy during the control of a two-DOFTwo ultrasonic motors are mounted on the stage to generate motion in two orthogonal directions.

Keywords： settling     position accuracy     PI control     control algorithm     orthogonal    

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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 aTwo criteria were considered, i.e., task workspace and mechanism dexterity.orientation of the end effector as a function of the manufacturing errors of the different links of the mechanism

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

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One DOF mechanism for the mechanical harvest of vines in an arbor structure and the validation of the

Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 3,   Pages 221-232 doi: 10.1007/s11465-015-0347-9

Abstract: Mechanism theory indicates that a mechanism has as many degrees of freedom as its actuators, and an actuatorIn this case, a single degree-of-freedom mechanism is proposed.This mechanism is the sum of two link mechanisms on perpendicular planes with a common outlet locatedat the output rod of the mechanism where the actuator is found.

Keywords： harvest     mechanisms     one DOF     vibration    

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Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 4,   Pages 357-370 doi: 10.1007/s11465-012-0340-5

Abstract:

In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a singledegree of freedom (DOF) biped robot.The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism.In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism hasA prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM

Keywords： biped robots     leg mechanisms     simulation    

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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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Stiffness of a 3-degree of freedom translational parallel kinematic machine

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 3,   Pages 233-241 doi: 10.1007/s11465-014-0312-z

Abstract:

In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machineFor various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum

Keywords： 3-DOF translational PKM     inverse kinematics     stiffness modeling     translational stiffness    

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Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 765-781 doi: 10.1007/s11465-021-0655-1

Abstract: Generalized parallel mechanisms with a configurable moving platform have become popular in the researchfield of parallel mechanism.translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallelA kinematic analysis of the example mechanism is presented.The workspace shows that the mechanism possesses high rotational capability.

Keywords： generalized parallel mechanism     configurable moving platform     gripper mechanism     type synthesis     kinematic    

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

Baochen WEI, Feng GAO

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

Abstract: component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism

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

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A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4,   Pages 340-349 doi: 10.1007/s11465-013-0282-6

Abstract:

A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper.The rolling mechanism is composed of two platforms connected by three UPU (universal-prismatic-universalThe degree-of-freedom of the mechanism is analyzed using screw theory.Four rolling modes of the mechanism are discussed and simulated.The feasibility of the rolling mechanism is verified by means of a physical prototype.

Keywords： parallel mechanism     rolling mechanism     screw theory    

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

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: This paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle headsIn order to construct 2D rotational degrees of freedom (DOF), a platform with 2-dimension revolute jointsA class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with theThe corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translationalparallel spindle heads are analyzed.

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

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Contribution to the design of robotized tele-echography system

T. ESSOMBA, M. A. LARIBI, J. P. GAZEAU, S. ZEGHLOUL, G. POISSON

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 135-149 doi: 10.1007/s11465-012-0326-3

Abstract: The Spherical Parallel Mechanism is selected because its characteristics meet the constraint requirementsThe optimal synthesis of spherical parallel manipulators is performed using a real-coded Genetic Algorithm

Keywords： tele-echography     motion capture     spherical parallel mechanism     genetic algorithm     adaptative kalman filter    

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Preload characteristics identification of the piezoelectric-actuated 1-DOF compliant nanopositioning

Ruizhou WANG, Xianmin ZHANG

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1,   Pages 20-36 doi: 10.1007/s11465-015-0328-z

Abstract: way to create and keep a proper and steady connection between both ends of the PPCA and the compliant mechanismThis paper presents a novel external preload mechanism and tests it in a 1-degree of freedom (1-DOF)The 1-DOF platform utilizes a parallelogram guiding mechanism and a parallelogram load mechanism to provide

Keywords： nanopositioning     preload characteristic     packaged piezoelectric ceramic actuator     compliant mechanism    

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Title Author Date Type Operation

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

Jialun YANG, Feng GAO,

Journal Article

Reverse driving character of 2-DOF closed chain haptic device

GUO Wei-dong, GUO Xin, ZHANG Yu-ru

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

Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

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

One DOF mechanism for the mechanical harvest of vines in an arbor structure and the validation of the

Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA

Journal Article

Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Journal Article

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

Journal Article

Stiffness of a 3-degree of freedom translational parallel kinematic machine

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Journal Article

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

Journal Article

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

Baochen WEI, Feng GAO

Journal Article

A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

Journal Article

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

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Journal Article

Contribution to the design of robotized tele-echography system

T. ESSOMBA, M. A. LARIBI, J. P. GAZEAU, S. ZEGHLOUL, G. POISSON

Journal Article

Preload characteristics identification of the piezoelectric-actuated 1-DOF compliant nanopositioning

Ruizhou WANG, Xianmin ZHANG

Journal Article