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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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Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

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

Abstract:

This paper presents the analysis of three parallel manipulators with Schoenflies-motion.Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degreeThe three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHwThe results can be helpful for the engineers to evaluate such kind of parallel robots for possible application

Keywords： parallel manipulator schoenflies motion kinematics singularity workspace performance index

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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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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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Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 1, Pages 66-80 doi: 10.1007/s11465-019-0570-x

Abstract: The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machineThis paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle headsand the corresponding collaborative 5-axis manipulators with 2-dimension (2D) large rotational anglesThe corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translationalThe results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads

Keywords： parallel mechanism redundant mechanism large rotational angles machine tools 2R1T spindle head collaborative

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Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3, Pages 329-335 doi: 10.1007/s11465-006-0034-y

Abstract: This paper presents a robot manipulator tracking controller based on output feedback linearization. A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities, disturbances and unmodelled dynamics. The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles. The controller design does not need an accurate model of the robot manipulator. Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach. The simulation results show that the proposed controller has more superior tracking control performance, with payload changing in a wide range, in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.

Keywords： available comparison unmeasurable nonlinear perturbation observer

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2, Pages 168-174 doi: 10.1007/s11465-007-0028-4

Abstract: To precisely implement the force control of robot manipulators in an unknown environment, a control strategy

Keywords： predictive tracking corresponding stiffness algorithm

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1, Pages 110-115 doi: 10.1007/s11465-007-0019-5

Abstract: A dynamical sliding-mode controller is devised to track the output of mobile manipulators.firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulatorsdesign method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators

Keywords： lower-dimensional nonlinear trajectory tracking diffeomorphism

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Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3, Pages 451-467 doi: 10.1007/s11465-021-0634-6

Abstract: A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of

Keywords： redundant actuation parallel manipulator linkage–cam mechanism Jacobian optimal design

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Variable identification and automatic tuning of the main module of a servo system of parallel mechanism

YANG Zhiyong, XU Meng, HUANG Tian, NI Yanbing

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1, Pages 82-88 doi: 10.1007/s11465-007-0014-x

Abstract: The variables of the main module of a servo system for miniature reconfigurable parallel mechanism were

Keywords： acceleration reconfigurable parallel additive sequence parallel mechanism

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Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0743-x

Abstract: Most parallel manipulators have multiple solutions to the direct kinematic problem.study investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallel

Keywords： planar parallel manipulator assembly changing motions cusp points quartic polynomial discriminant

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A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4, Pages 340-349 doi: 10.1007/s11465-013-0282-6

Abstract:

A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper.

Keywords： parallel mechanism rolling mechanism screw theory

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Group-based multiple pipe routing method for aero-engine focusing on parallel layout

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4, Pages 798-813 doi: 10.1007/s11465-021-0645-3

Abstract: in limited three-dimensional space is a typical nondeterministic polynomial hard problem, where the parallelThis paper presents an automatic multiple pipe routing method for aero-engine that focuses on parallelFurthermore, to eliminate the minor angle deviation of parallel pipes that would cause assembly stress

Keywords： multiple pipe routing optimization algorithm aero-engine pipe grouping parallel layout

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New kind of subarea-parallel scanning mode for laser metal deposition shaping

BIAN Hongyou, LIU Weijun, ZHAO Jibin

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 4, Pages 417-422 doi: 10.1007/s11465-007-0071-1

Abstract: A new kind of subarea-parallel scanning mode for LMDS based on a subdividing profiled outline into monotonousSecond, the parallel scanning paths of all monotonous polygon subareas are finished, which diminishes

Keywords： scanning parallel scanning practical application fabrication efficiency LMDS