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Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 45-60 doi: 10.1007/s11465-011-0205-3

Abstract:

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed.This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closureAn optimization approach is then investigated for the kinematic design of the three joint modules, inwhich the design objective is to maximize the matched workspace of the robotic arm joints with that7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design

Keywords： anthropomimetic design     robotic arm     cable-driven mechanism     kinematic analysis     design optimization    

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Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

Xinjun LIU, Xiang CHEN, Zhidong LI

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 199-209 doi: 10.1007/s11465-012-0315-6

Abstract:

Due to the demand of reconfigurable system in parallel kinematic machines (PKMs), modular design technologyThe modular design to the typical customized links from the point of seeking optimal structures withThe results provide useful references for reconfigurable and modular design in engineering cases.

Keywords： parallel kinematic machines (PKMs)     modular design     classification     topology optimization and improved Guide-Weight    

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Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 211-224 doi: 10.1007/s11465-018-0471-4

Abstract:

This paper deals with the conceptual design, kinematic analysis and workspace identification of a

Keywords： spatial parallel robot     pick-and-place operations     mobility analysis     kinematic modeling     workspace identification    

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On the improvement design of dynamic characteristics for the roller follower of a variable-speed plate

Hui Ching FAN, Hong Sen YAN

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 5-15 doi: 10.1007/s11465-012-0310-y

Abstract: mechanism with a variable input speed trajectory offers an alternative solution to flexibly achieve kinematicThe design procedure to improve the kinematic and dynamic motion characteristics is presented and twodesign examples with discussions are provided.Finally, the simulations of the kinematic and dynamic models by ADAMS are carried out and verified thatthe design models as well as the performances of the mechanism are feasible.

Keywords： cam mechanism     variable input speed     kinematic design     dynamic design     optimal design    

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Loop theory and applications to some key problems of kinematic structure of kinematic chains

Huafeng DING, Zhen HUANG

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3,   Pages 276-283 doi: 10.1007/s11465-009-0061-6

Abstract: synthesis of mechanisms is a pivotal issue in the field of mechanical innovation and mechanical conceptual designIn this paper, a new loop theory of kinematic chains is proposed.computer-based automatic synthesis of mechanisms are solved. 1) The open problem of isomorphism of kinematicThe multi-value problem for the representation of kinematic chains is solved.The results in this paper will benefit the digitization and computerization of mechanical conceptual design

Keywords： Loop theory     kinematic chains     isomorphism     atlas database    

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Automatic Design Theory and Realization of Kinematic Schemes for Mechanism System

YE Zhi-gang, ZOU Hui-jun, GUO Wei-zhong, HU Song, TIAN Yong-li, XU Yong

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1,   Pages 48-55 doi: 10.1007/s11465-005-0014-7

Abstract: , input/output kinematic behavior and their constraint relations were proposed to represent the kinematicIts intermediate design solution and the constraint relations between input and output are generatedtransmitted to attribute items of the blackboard, which finally enables a computer-aided automatic designprocess of a mechanism system kinematic scheme.search process, bounded depth-first search was used to control the number of expanded hierarchies for a design

Keywords： combination explosion     unbounded     computer-aided automatic     mechanism combination     information    

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

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

Abstract: increasing; however, current manipulator layouts that remarkably differ from human arms make intuitive kinematicA hybrid series–parallel mechanism is presented to achieve the spherical wrist design, which consistsactive joint), the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematicThe analytical inverse kinematic solution is drawn by constructing self-motion manifolds.Finally, a physical prototype is developed, and the kinematic analysis is validated via numerical simulation

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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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: A kinematic analysis of the example mechanism is presented.

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

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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 andThis work employs the techniques of topology and size optimization to design two typical rigid linksof a parallel kinematic machine (PKM) and subsequently obtains applicable structures for them.

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

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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 direct

Keywords： parallel robots     kinematic redundancy     singularity avoidance     operational workspace    

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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 KinematicError modeling is done based on the differentiation of the inverse kinematic equations.X, Y and Z directions for a set of dimensions of the parallel kinematicAn attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithmspresented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic

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

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA and a dual bending SPA. By constraining the deformation of the elastomeric chamber, the SPAs realize their prescribed motions, and the deformations subjected to pressures are characterized with numerical models. Experiments are performed for verification, and the results show good agreement. The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors. Control schemes are presented, and crawling tests are performed. The speeds predicted by the numerical models agree well with the speeds in the experiments.

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism

TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 214-217 doi: 10.1007/s11465-007-0037-3

Abstract: This paper deals with the static and dynamic output kinematic accuracy of a group of elastic slider-crankmechanisms with the same design parameters by taking the bar length, the joint-gaps, the mass densityAccording to the principle of linear pile-up of small displacement, the static and dynamic output kinematicerrors are synthesized, and the reliability model of the kinematic accuracy of the mechanism is builtThrough an example, a study of the influencing factors on the reliability of the output kinematic accuracy

Keywords： output kinematic     group     slider-crank     kinematic accuracy     displacement    

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Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis

Mehdi VEISKARAMI, Ghasem HABIBAGAHI

Frontiers of Structural and Civil Engineering 2013, Volume 7, Issue 4,   Pages 446-455 doi: 10.1007/s11709-013-0227-5

Abstract: The kinematic approach of the limit analysis was employed to find the upper-bound limit of the bearing

Keywords： foundation     bearing capacity     limit analysis     numerical computation     plasticity     seepage    

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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 61-70 doi: 10.1007/s11465-011-0206-2

Abstract:

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by theHowever, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complexto be solved uniquely by relying on conventional synthesis methods, due to the large number of open designIn this perspective, this paper presents a method, which allows to generalize the problem of kinematicused for the kinematic design of a planar wearable robot for the lower limbs.

Keywords： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test    

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Title Author Date Type Operation

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

Journal Article

Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

Xinjun LIU, Xiang CHEN, Zhidong LI

Journal Article

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

Journal Article

On the improvement design of dynamic characteristics for the roller follower of a variable-speed plate

Hui Ching FAN, Hong Sen YAN

Journal Article

Loop theory and applications to some key problems of kinematic structure of kinematic chains

Huafeng DING, Zhen HUANG

Journal Article

Automatic Design Theory and Realization of Kinematic Schemes for Mechanism System

YE Zhi-gang, ZOU Hui-jun, GUO Wei-zhong, HU Song, TIAN Yong-li, XU Yong

Journal Article

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

Journal Article

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

Journal Article

Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

Journal Article

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

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

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

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism

TUO Yaofei, CHEN Jianjun, ZHANG Chijiang, CHEN Yongqin

Journal Article

Foundations bearing capacity subjected to seepage by the kinematic approach of the limit analysis

Mehdi VEISKARAMI, Ghasem HABIBAGAHI

Journal Article

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Journal Article