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Dynamic modeling of flexible-links planar parallel robots

DU Zhaocai, YU Yueqing, ZHANG Xuping, DU Zhaocai

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 2,   Pages 232-237 doi: 10.1007/s11465-008-0032-3

Abstract: This paper presents a finite element-based method for dynamic modeling of parallel robots with flexible(KED) theory and Lagrange formula are used to derive the dynamic equations of planar flexible-links parallelThe dynamic behavior of the flexible-links planar parallel robot is well illustrated through numericalsimulation of a planar 3-RR parallel robot.have a significant impact on the position error and orientation error of the flexible-links planar parallel

Keywords： 3-RR parallel     KED     coupling     software SAMCEF     orientation    

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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.

Keywords： parallel mechanism     rolling mechanism     screw theory    

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Error analysis and optimization 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 2,   Pages 120-129 doi: 10.1007/s11465-014-0300-3

Abstract:

In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel X, Y and Z directions for a set of dimensions of the parallelAn attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithmsmethodology presented and the results obtained are useful for predicting the performance capability of the Parallel

Keywords： translational Parallel Kinematic Machine     error modeling     global error transformation index    

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Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 210-218 doi: 10.1007/s11465-012-0317-4

Abstract:

Based on the prototype of 3-UPU (universal-prismatic-universal joint) parallel mechanism proposedrotation evaluation is performed and calculated the bound of instability of SNU Seoul National University 3-UPU parallel mechanism.Through analysis of the terminal constraint system of the 3-UPU parallel mechanism, the equation aboutWith the practice experiment result of SUN 3-UPU parallel mechanism, we find it’s bound of instability

Keywords： parallel mechanism     3-UPU (universal-prismatic-universal joint)     parasitic motions     limited clearance     redundantly    

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A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1,   Pages 7-19 doi: 10.1007/s11465-015-0324-3

Abstract:

In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed

Keywords： parallel mechanism     concomitant motions     kinematics     workspaces     error model    

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RR1 and RR2 gene deletion affects the immunogenicity of a live attenuated pseudorabies

Shijun YAN,He YAN,Chaolin ZHANG,Tongyan WANG,Qingyuan YANG,Zhe SUN,Yan XIAO,Feifei TAN,Xiangdong LI,Kegong TIAN

Frontiers of Agricultural Science and Engineering 2016, Volume 3, Issue 1,   Pages 81-86 doi: 10.15302/J-FASE-2016088

Abstract: virulence-determining genes, and encode the small subunit and large subunit of viral ribonucleotide reductase (RR

Keywords： pseudorabies virus     RR1 and RR2     ribonucleotide reductase     vaccine candidate    

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Recent advances and challenges of nitrogen/nitrate electro catalytic reduction to ammonia synthesis

Frontiers in Energy doi: 10.1007/s11708-023-0908-2

Abstract: reaction (NRR) to ammonia and nitrate reduction reaction (NO3− RR) to ammonia were discussed."scroll">NO3 − RR and electrochemical ammonia synthesis

Keywords： nitrogen     nitrate     nitrogen reduction reaction (NRR) to ammonia     nitrate reduction reaction (NO–3 RR)    

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Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Yue WANG, Jingjun YU, Xu PEI

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 3,   Pages 368-375 doi: 10.1007/s11465-018-0519-5

Abstract:

A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study.This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanismThis novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.

Keywords： 3-RPS parallel mechanism     forward kinematics     numerical algorithm     parasitic motion    

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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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Kinematic Model Building and Servo Parameter Identification of 3-HSS Parallel Mechanism

YANG Zhi-yong, WU Jiang, HUANG Tian, NI Yan-bing

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1,   Pages 60-66 doi: 10.1007/s11465-005-0019-2

Abstract:

Aiming at a parallel mechanism with three degrees of freedom, a method for dynamic model buildingBased on the above model, a method to identify the servo parameter of the parallel mechanism is put up

Keywords： building     acceleration     additive     workspace     optimum performance    

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HAM: a deep collaborative ranking method incorporating textual information Research Articles

Cheng-wei Wang, Teng-fei Zhou, Chen Chen, Tian-lei Hu, Gang Chen,rr@zju.edu.cn,zhoutengfei@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 8,   Pages 1119-1266 doi: 10.1631/FITEE.1900382

Abstract: The recommendation task with a textual corpus aims to model customer preferences from both user feedback and item textual descriptions. It is highly desirable to explore a very deep neural network to capture the complicated nonlinear preferences. However, training a deeper recommender is not as effortless as simply adding layers. A deeper recommender suffers from the gradient vanishing/exploding issue and cannot be easily trained by gradient-based methods. Moreover, textual descriptions probably contain noisy word sequences. Directly extracting feature vectors from them can harm the recommender’s performance. To overcome these difficulties, we propose a new recommendation method named the HighwAy recoMmender (HAM). HAM explores a highway mechanism to make gradient-based training methods stable. A multi-head attention mechanism is devised to automatically denoise textual information. Moreover, a method is devised to train a deep neural recommender. Empirical studies show that the proposed method outperforms state-of-the-art methods significantly in terms of accuracy.

Keywords： 深度学习；推荐系统；高速公路网络；块坐标梯度下降    

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Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive Article

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 3,   Pages 303-316 doi: 10.1631/FITEE.1500353

Abstract: A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed.

Keywords： Parameter initialization     Adaptive robust control     Parallel mechanism     Pneumatic cylinders    

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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 parallel

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

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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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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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Title Author Date Type Operation

Dynamic modeling of flexible-links planar parallel robots

DU Zhaocai, YU Yueqing, ZHANG Xuping, DU Zhaocai

Journal Article

A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

Journal Article

Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

S. SHANKAR GANESH,A. B. KOTESWARA RAO

Journal Article

Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Journal Article

A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

Journal Article

RR1 and RR2 gene deletion affects the immunogenicity of a live attenuated pseudorabies

Shijun YAN,He YAN,Chaolin ZHANG,Tongyan WANG,Qingyuan YANG,Zhe SUN,Yan XIAO,Feifei TAN,Xiangdong LI,Kegong TIAN

Journal Article

Recent advances and challenges of nitrogen/nitrate electro catalytic reduction to ammonia synthesis

Journal Article

Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Yue WANG, Jingjun YU, Xu PEI

Journal Article

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

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Journal Article

Kinematic Model Building and Servo Parameter Identification of 3-HSS Parallel Mechanism

YANG Zhi-yong, WU Jiang, HUANG Tian, NI Yan-bing

Journal Article

HAM: a deep collaborative ranking method incorporating textual information

Cheng-wei Wang, Teng-fei Zhou, Chen Chen, Tian-lei Hu, Gang Chen,rr@zju.edu.cn,zhoutengfei@zju.edu.cn

Journal Article

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

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

Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

Journal Article

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

Journal Article