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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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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 aspects

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

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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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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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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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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

Keywords： 3-DOF translational PKM     inverse kinematics     stiffness modeling     translational stiffness    

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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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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 freedom

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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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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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: In 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 same even if the drawing modes and labeling ways of a chain are changed, and an atlas database of kinematicThe multi-value problem for the representation of kinematic chains is solved.

Keywords： Loop theory     kinematic chains     isomorphism     atlas database    

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A redundantly actuated PRPRP radial mechanism in the segment erector of a shield machine for synchronization control

Wanghui BU, Zhenyu LIU, Jianrong TAN, Jin CHENG

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 4,   Pages 463-467 doi: 10.1007/s11465-011-0225-z

Abstract:

The shield machine is a heavy construction machine for tunnel excavation, and the segment erector is an important subsystem of the shield machine. It is difficult to achieve precise control in the 6-DOF (degree of freedom) erector in the 2-DOF 5-bar radial mechanism. Hence, this paper proposes a redundantly actuated PRPRP radial mechanism for the segment erector. When the redundant actuator is unlocked, the radial mechanism is able to adjust its posture, which has two degrees of freedom. On the other hand, when the redundant actuator is locked or produces enough pre-tightening tensile force, the PRPRP mechanism can ensure the synchronization of the two driving hydraulic cylinders along the radial direction based on the mechanical structure, which has one degree of freedom. The redundant actuator also facilitates the equal application of two flexural torques at the hydraulic cylinders; thus, preventing the overload of a single cylinder.

Keywords： redundant actuation     parallel mechanisms     five-bar mechanisms     segment erectors     shield machines    

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Title Author Date Type Operation

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

Xinjun LIU, Xiang CHEN, Zhidong LI

Journal Article

Research and Development in the Field of Parallel Kinematic Machines

Wang Jinsong,Li Tiemin,Duan Guanghong

Journal Article

Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU, Zhidong LI, Xiang CHEN

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

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

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

S. SHANKAR GANESH,A.B. KOTESWARA RAO

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

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

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

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

Huafeng DING, Zhen HUANG

Journal Article

A redundantly actuated PRPRP radial mechanism in the segment erector of a shield machine for synchronization control

Wanghui BU, Zhenyu LIU, Jianrong TAN, Jin CHENG

Journal Article