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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 parallelkinematic machine (PKM) and subsequently obtains applicable structures for them.

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

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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 machine(PKM) is studied and analyzed whose tool platform has only translations along X-, 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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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 ParallelKinematic Machine is presented.kinematic machine is presented.An attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic AlgorithmsKinematic Machine under study.

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

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Research and Development in the Field of Parallel Kinematic Machines

Wang Jinsong,Li Tiemin,Duan Guanghong

Strategic Study of CAE 2002, Volume 4, Issue 6,   Pages 63-70

Abstract:

Parallel kinematic machines are in the process of industrialization.In this paper, research and development of parallel kinematic machines is investigated from various aspectsincluding machine structures, application fields, drive principles and controllers.

Keywords： parallel manipulator     parallel kinematic machines(PKM)     drive     control system    

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Development and Experiment Research of the Postprocessor for Parallel Kinematic Machine Tools

Li Tiemin,Ye Peiqing,Wang Jinsong

Strategic Study of CAE 2003, Volume 5, Issue 12,   Pages 80-86

Abstract:

Based on the structure of 6 - TPS parallel kinematic machine tools (PKMTs) with 6 degrees of freedomOn the basis of above analysis, the functions and framework of a postprocessor for this type of machineSome important methods for carrying out the postprocessing of the machine are researched and demonstrated

Keywords： parallel kinematic machine tools     postprocessing algorithm     postprocessor    

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Kinematic simulation of a parallel NC machine tool in the manufacturing process

ZHANG Jian-min, FAN Yu, JIA Dong-yun, ZOU Qiu-ling, WU Ying

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 2,   Pages 173-176 doi: 10.1007/s11465-006-0020-4

Abstract: Aimed at enhancing the research status of parallel machine tools, this paper introduces the structureof a 6-SPS parallel machine tool and explains the application significance of the kinematic simulation

Keywords： 6-SPS     kinematic simulation     manufacturing     application significance    

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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 308-316 doi: 10.1007/s11465-014-0318-6

Abstract:

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

Keywords： humanoid robots     torso design     parallel manipulators (PKM)     conceptual design    

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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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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 anovel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations.The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform.

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

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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 technology

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

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Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility

Fugui XIE,Xin-Jun LIU

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 135-143 doi: 10.1007/s11465-016-0389-7

Abstract:

This study introduces a high-speed parallel robot with Schönflies motion.

Keywords： parallel robot     mobility     inverse kinematics     singularity     transmission performance    

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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.

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

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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

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 70-79 doi: 10.1007/s11465-013-0365-4

Abstract: The parallel robot can also handle both a laparoscope as well an active instrument for different surgicalThe kinematic modelling of a new parallel architecture, the inverse and direct geometric model and theinverse 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 workspaceSome kinematic simulation results and the experimental model of the robot are presented in the paper.

Keywords： parallel robot     minimally invasive surgery     kinematics     simulation    

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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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A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 3,   Pages 351-364 doi: 10.1007/s11465-020-0594-2

Abstract: This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and aportable parallel kinematic machine tool.The kinematic model of the entire system is presented, and the workspace of different components, includingto take advantage of the large workspace of the legged mobile platform and the high precision of the parallelmachine tool.

Keywords： legged robot     parallel mechanism     mobile machine tool     in-situ machining    

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Title Author Date Type Operation

Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

Journal Article

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

S. SHANKAR GANESH,A.B. KOTESWARA RAO

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

Research and Development in the Field of Parallel Kinematic Machines

Wang Jinsong,Li Tiemin,Duan Guanghong

Journal Article

Development and Experiment Research of the Postprocessor for Parallel Kinematic Machine Tools

Li Tiemin,Ye Peiqing,Wang Jinsong

Journal Article

Kinematic simulation of a parallel NC machine tool in the manufacturing process

ZHANG Jian-min, FAN Yu, JIA Dong-yun, ZOU Qiu-ling, WU Ying

Journal Article

LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Journal Article

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

Jens KOTLARSKI, Bodo HEIMANN, Tobias ORTMAIER

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

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

Xinjun LIU, Xiang CHEN, Zhidong LI

Journal Article

Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility

Fugui XIE,Xin-Jun LIU

Journal Article

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

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

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

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

Journal Article

A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Journal Article