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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.This study investigates the cusp points and assembly changing motions in a two degrees of freedom planarparallel manipulator.The direct kinematic problem of the manipulator yields a quartic polynomial equation.

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

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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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Dynamic modeling of flexible-links planar parallel robots

DU Zhaocai, YU Yueqing, ZHANG Xuping, DU Zhaocai

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 2,   Pages 232-237 doi: 10.1007/s11465-008-0032-3

Abstract: Kineto-Elasto dynamics (KED) theory and Lagrange formula are used to derive the dynamic equations of planarflexible-links parallel robots.The dynamic behavior of the flexible-links planar parallel robot is well illustrated through numericalsimulation of a planar 3-RR parallel robot.parallel robot.

Keywords： 3-RR parallel     KED     coupling     software SAMCEF     orientation    

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Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 150-162 doi: 10.1007/s11465-012-0325-4

Abstract:

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a

Keywords： spherical parallel manipulator (SPM)     anastomosis     haptic     motion capture     optimization     workspace     dexterity    

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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

Abstract: manipulator in quadruple stance phase.manipulator.manipulator is established.The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelveThe 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    

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Analysis of the dynamic stress of planar flexible-links parallel robots

DU Zhaocai, YU Yueqing, YANG Jianxin

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 152-158 doi: 10.1007/s11465-007-0025-7

Abstract: This paper presents a method for the dynamic stress analysis of planar parallel robots with flexibleThe finite element-based dynamic model of flexible parallel robots is proposed.analysis is demonstrated to have a significant impact on the analysis, design and control of flexible parallel

Keywords： numerical simulation     Due     coupling     software SAMCEF     flexibility    

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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 kinematic equations are first introduced for each manipulator.The 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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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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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract: The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallelmanipulator architecture.

Keywords： study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism     3-UPU parallelmanipulator    

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Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom

MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 2,   Pages 227-232 doi: 10.1007/s11465-006-0005-3

Abstract: This paper analyzes the precision of the dissymmetrical parallel mechanism of 3-RRRP(4R) with three translationalThe parallel mechanism has weakly-coupled, decoupled and real-time characteristics, thus error compensationThe influencing factors of the manipulator s precision are studied carefully and the means to enhance

Keywords： manipulator     nonlinear     δθ     influence     differential    

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Genetic evidence in planar cell polarity signaling pathway in human neural tube defects

Chunquan Cai, Ouyan Shi

Frontiers of Medicine 2014, Volume 8, Issue 1,   Pages 68-78 doi: 10.1007/s11684-014-0308-4

Abstract: The planar cell polarity (PCP) pathway controls the process of convergent extension (CE) during gastrulation

Keywords： planar cell polarity     neural tube defects     rare mutations    

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

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 headsA class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with thekinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel

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

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Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 4,   Pages 326-343 doi: 10.1007/s11465-015-0355-9

Abstract:

Static balancing for a manipulator’s weight is necessary in terms of energy saving and performance

Keywords： robotics     static balancing     pneumatic spring     mechanical spring     torque compensation    

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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: Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese SpaceStation Remote Manipulator System.the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulatorEMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator

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

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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 698-710 doi: 10.1007/s11465-021-0646-2

Abstract: manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulatorThis study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated manipulatorA hybrid series–parallel mechanism is presented to achieve the spherical wrist design, which consistsof two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected seriallyThe 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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Title Author Date Type Operation

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

Journal Article

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

Journal Article

Dynamic modeling of flexible-links planar parallel robots

DU Zhaocai, YU Yueqing, ZHANG Xuping, DU Zhaocai

Journal Article

Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Journal Article

Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Journal Article

Analysis of the dynamic stress of planar flexible-links parallel robots

DU Zhaocai, YU Yueqing, YANG Jianxin

Journal Article

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

Po-Chih LEE, Jyh-Jone LEE

Journal Article

Research and Development in the Field of Parallel Kinematic Machines

Wang Jinsong,Li Tiemin,Duan Guanghong

Journal Article

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Journal Article

Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom

MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping

Journal Article

Genetic evidence in planar cell polarity signaling pathway in human neural tube defects

Chunquan Cai, Ouyan Shi

Journal Article

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

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Journal Article

Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

Journal Article

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

Journal Article

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Journal Article