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Inverse Kinematics Analysis of General 6R Serial Robot Mechanism Based on Groebner Base
WANG Yan, HANG Lu-bin, YANG Ting-li
Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1, Pages 115-124 doi: 10.1007/s11465-005-0022-7
This study presents a solution for the inverse kinematics problem in serial 6R manipulator.angles identical equations instead of the traditional 14 equations, the authors reduced the inverse kinematics
Keywords: identical manipulator univariate polynomial mechanism traditional
Fugui XIE,Xin-Jun LIU
Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2, Pages 135-143 doi: 10.1007/s11465-016-0389-7
Keywords: parallel robot mobility inverse kinematics singularity transmission performance
Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool
JIA Dongyong, ZHANG Jianmin, SUN Hongchang, NIU Zhigang
Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2, Pages 235-238 doi: 10.1007/s11465-007-0041-7
Keywords: numerical accordance transform formula virtual slider-
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
This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallelFor this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planningin terms of locomotion and body kinematics analysis as a parallel manipulator.The 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
Research on transmission principle and kinematics analysis for involute spherical gear
PAN Cun-yun, WEN Xi-sen, YANG Kun-yu, XU Xiao-jun, LIU Min, YAO Qi-shui
Frontiers of Mechanical Engineering 2006, Volume 1, Issue 2, Pages 183-193 doi: 10.1007/s11465-006-0010-6
Keywords: rotational transformation orientation Furthermore conjugate number
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 7, Pages 607-616 doi: 10.1631/FITEE.14a0335
Keywords: Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential
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
This paper presents the analysis of three parallel manipulators with Schoenflies-motion.
Keywords: parallel manipulator schoenflies motion kinematics singularity workspace performance index
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
Keywords: parallel mechanism concomitant motions kinematics workspaces error model
Hu SHI, Guofang GONG, Huayong YANG
Frontiers of Mechanical Engineering 2011, Volume 6, Issue 3, Pages 369-376 doi: 10.1007/s11465-011-0223-1
Keywords: shield tunneling machine segment erector kinematics position and attitude precision
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
In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient’s abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The 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 algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.
Keywords: parallel robot minimally invasive surgery kinematics simulation
General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of
Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0681-7
Keywords: inverse kinematics Paden–Kahan subproblems three-joint subproblems product of exponential closed-form
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
A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: SphericalThis novel forward kinematics algorithm is well suited for real-time and high-precision control of the
Keywords: 3-RPS parallel mechanism forward kinematics numerical algorithm parasitic motion
Generation of closed-form inverse kinematics for reconfigurable robots
ZHAO Jie, WANG Weizhong, GAO Yongsheng, CAI Hegao
Frontiers of Mechanical Engineering 2008, Volume 3, Issue 1, Pages 91-96 doi: 10.1007/s11465-008-0013-6
Keywords: different effectiveness generation reconfigurable algebraic
An Improved BP Algorithm Applying to Inverse Kinematics Problems of Robot Manipulator
Wu Aiguo,Hao Runsheng
Strategic Study of CAE 2005, Volume 7, Issue 7, Pages 34-38
Keywords: neural networks BP algorithm active function robot manipulator inverse kinematics
Oscillation frequency of simplified arterial tubes
Hui AN, Fan HE, Lingxia XING, Xiaoyang LI
Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3, Pages 300-304 doi: 10.1007/s11465-009-0038-5
Keywords: spatial kinematics natural frequency finite element method
Title Author Date Type Operation
Inverse Kinematics Analysis of General 6R Serial Robot Mechanism Based on Groebner Base
WANG Yan, HANG Lu-bin, YANG Ting-li
Journal Article
Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularity
Fugui XIE,Xin-Jun LIU
Journal Article
Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool
JIA Dongyong, ZHANG Jianmin, SUN Hongchang, NIU Zhigang
Journal Article
Motion capability analysis of a quadruped robot as a parallel manipulator
Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI
Journal Article
Research on transmission principle and kinematics analysis for involute spherical gear
PAN Cun-yun, WEN Xi-sen, YANG Kun-yu, XU Xiao-jun, LIU Min, YAO Qi-shui
Journal Article
Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
Journal Article
Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion
Po-Chih LEE, Jyh-Jone LEE
Journal Article
A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator
Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG
Journal Article
Drive system design and error analysis of the 6 degrees of freedom segment erector of shield tunneling
Hu SHI, Guofang GONG, Huayong YANG
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
General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of
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
Generation of closed-form inverse kinematics for reconfigurable robots
ZHAO Jie, WANG Weizhong, GAO Yongsheng, CAI Hegao
Journal Article
An Improved BP Algorithm Applying to Inverse Kinematics Problems of Robot Manipulator
Wu Aiguo,Hao Runsheng
Journal Article