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Research on constraint-based virtual assembly technologies

YANG Rundang, WU Dianliang, FAN Xiumin, YAN Juanqi

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 243-249 doi: 10.1007/s11465-007-0043-5

Abstract: the assembly constraint, the equivalent relation between the constraint and the degree of freedom (DOF), and the movement DOF reduction in a virtual environment are proposed.Finally, the algorithm of movement navigation based on the generalized coordinate system is put forward, and the part movement is guided.

Keywords： movement DOF     recognition algorithm     assembly     orientation     combination    

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 435-450 doi: 10.1007/s11465-021-0630-x

Abstract: Seven-degree-of-freedom redundant manipulators with link offset have many advantages, including obvious geometric significance and suitability for configu-ration control. Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese Space Station Remote Manipulator System. However, finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult. This study proposes a high-precision, semi-analytical inverse method for EMMs. Firstly, the analytical inverse kinematic solution is established based on joint angle parameterization. Secondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulator is derived based on arm angle parameterization. The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator. Thirdly, the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization. After selecting the stride and termination condition, the precise inverse solution is computed for the EMM based on arm angle parameterization. Lastly, case solutions confirm that this method has high precision, and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

Keywords： 7-DOF redundant manipulator     inverse kinematics     semi-analytical     arm angle     link offset    

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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-DOF

Keywords： settling     position accuracy     PI control     control algorithm     orthogonal    

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

Baochen WEI, Feng GAO

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

Abstract:

Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.

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

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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:

In the mechanized harvest of vines, grape berries are detached through the vibration to the structure supporting the clusters. According to the kind of guide selected, the clusters require one or two vibration directions in the structure. For guiding in parral structures, vibration is necessary in two directions or planes: One perpendicular to the other. The guide branches producing the clusters develop in these planes, and the guiding is called H-guiding. Mechanism theory indicates that a mechanism has as many degrees of freedom as its actuators, and an actuator is needed to achieve a certain vibration. Having the smallest number of possible actuators is beneficial in reducing moving parts and achieving more compact and easily controllable mecha-nisms. In this case, a single degree-of-freedom mechanism is proposed. It is capable of generating vibrations on two planes: One perpendicular to the other. This mechanism is the sum of two link mechanisms on perpendicular planes with a common outlet located at the output rod of the mechanism where the actuator is found. As the distance between the soil and the elements containing the clusters is not constant, a system has been designed to measure the accelerations at the bars and the rocker to validate the acceleration values that detach the grape berries in a prototype in a lab experiment, to ensure that the acceleration needed for pulling the grape berries are produced at any contact point of the bar.

Keywords： harvest     mechanisms     one DOF     vibration    

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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: 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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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: operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOFA 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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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.., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module.The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetricA research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate

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

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Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant

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

Abstract: Based on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an exampleThe end-effector error (position and orientation) and the ‘away limitation level’ value of the 8-DOFThe proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant

Keywords： Inverse kinematics problem     8-DOF humanoid manipulator     Biogeography-based optimization (BBO)     Differential    

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The Stable Movement of Salty Water Soil and Pattern Researchof Removing the Salt

Zhou Heping,Peng Lixin,Xu Xiaobo

Strategic Study of CAE 2007, Volume 9, Issue 11,   Pages 120-126

Abstract:

Through the research of the water-salt movement under different groundthe symptom of redistribution of water and salt in certain area:when the evolvement of water and salt movementoccurs in vertical and horizontal direction, there is also the important symptom of sideward movementabroad, and discusses the new mode of salt drainage under both the condition of water-salt directional movementand the condition of salt movement to the earth's surface.

Keywords： water-salt directional movement     new mode of salt dranage     research and discussion    

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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: This 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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Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 299-304 doi: 10.1007/s11465-006-0030-2

Abstract: Therefore, various manufacturing imperfections were studied by taking a planar 3 degrees of freedom (3-DOF

Keywords： centerline     stiffness     effective     manipulator     precision    

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Experimental study on average movement characteristics of bed-load particles

Limo TANG, Xingkui WANG,

Frontiers of Structural and Civil Engineering 2009, Volume 3, Issue 4,   Pages 435-439 doi: 10.1007/s11709-009-0050-1

Abstract: The average movement characteristics of the particles are analyzed by statistics.

Keywords： different     longitudinal     three-dimensional     particle     Bagnold    

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Multi-scale investigation of active failure for various modes of wall movement

Frontiers of Structural and Civil Engineering 2021, Volume 15, Issue 4,   Pages 961-979 doi: 10.1007/s11709-021-0738-4

Abstract: Retained backfill response to wall movement depends on factors that range from boundary conditions toHence, various modes of wall movement (translation and rotation) toward the active state are modeleddistribution and deformation mechanisms are discussed with reference to the associated modes of wall movement

Keywords： discrete-element modelling     granular materials     retaining walls     particle shape     arching    

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Title Author Date Type Operation

Research on constraint-based virtual assembly technologies

YANG Rundang, WU Dianliang, FAN Xiumin, YAN Juanqi

Journal Article

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Journal Article

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

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

Journal Article

Reverse driving character of 2-DOF closed chain haptic device

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

Journal Article

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

Baochen WEI, Feng GAO

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

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

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

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Journal Article

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

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

The Stable Movement of Salty Water Soil and Pattern Researchof Removing the Salt

Zhou Heping,Peng Lixin,Xu Xiaobo

Journal Article

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

Ruizhou WANG, Xianmin ZHANG

Journal Article

Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

Journal Article

Experimental study on average movement characteristics of bed-load particles

Limo TANG, Xingkui WANG,

Journal Article

Multi-scale investigation of active failure for various modes of wall movement

Journal Article