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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: In this paper, a means to achieve redundant actuation by adding kinematic constraints is introduced,

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

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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: When the redundant actuator is unlocked, the radial mechanism is able to adjust its posture, which hasOn the other hand, when the redundant actuator is locked or produces enough pre-tightening tensile forceThe redundant actuator also facilitates the equal application of two flexural torques at the hydraulic

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

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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: The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructuredThis study proposes a seven-degree-of-freedom (7-DOF) redundant anthropomorphic hydraulically actuated

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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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: In order to provide constant rotational axis for the platform, a class of redundant limbs are designedA class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with theplatform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion.

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

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A new method for boring of non-circular holes

ZHANG Kai, HU De-jin

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 4,   Pages 456-460 doi: 10.1007/s11465-006-0058-3

Abstract: A revolving electromagnetic actuation mechanism composed of an electromagnetic stator and an electromagneticThere are four pole-pair coils in the stator supplying actuation currents.the control current and the actuation force was established, and the synchronizing control method ofthe electromagnetic actuation mechanism is presented here.current and micro-displacement to the linearization error of the actuation force were studied.

Keywords： electromagnetic actuation     control method     displacement     flexible body     revolving electromagnetic    

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Surface tension of liquid metal: role, mechanism and application

Xi ZHAO, Shuo XU, Jing LIU

Frontiers in Energy 2017, Volume 11, Issue 4,   Pages 535-567 doi: 10.1007/s11708-017-0463-9

Abstract: Moreover, the unique phenomena of RTLM surface tension issues such as surface tension driven self-actuation

Keywords： surface tension     liquid metal     soft machine     printed electronics     electrowetting     self-actuation    

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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: The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex jointBased on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an exampleThe 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 evolution (DE)    

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A new feature selection method for handling redundant information in text classification None

You-wei WANG, Li-zhou FENG

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 2,   Pages 221-234 doi: 10.1631/FITEE.1601761

Abstract: Because of the difficulty in handling the problem that the selected features always contain redundantinformation, we propose a new simple feature selection method, which can effectively filter the redundantFinally, to improve the execution speed, the redundant features in FS1 are filtered by combining a predeterminedStatistical results validate the effectiveness of the proposed method in handling redundant information

Keywords： Feature selection     Dimensionality reduction     Text classification     Redundant features     Support vector machine    

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Optimal redundant placement of PMUs in Indian power grid — northern, eastern and north-eastern regions

Pathirikkat GOPAKUMAR, G. Surya CHANDRA, M. Jaya Bharata REDDY, Dusmata Kumar MOHANTA

Frontiers in Energy 2013, Volume 7, Issue 4,   Pages 413-428 doi: 10.1007/s11708-013-0274-6

Abstract: This paper proposes optimal redundant geographical locations in the northern, eastern and north-eastern

Keywords： phasor measurement unit (PMU)     smart grid (SG)     Indian power grid     northern region Indian power grid (NRIPG)     eastern region Indian power grid (ERIPG)     north-eastern region Indian power grid (NERIPG)     redundancy     integer linear programing (ILP)    

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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 obviousSecondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant

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

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Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation Article

Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos

Engineering 2015, Volume 1, Issue 1,   Pages 66-72 doi: 10.15302/J-ENG-2015016

Abstract:

This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current (DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.

Keywords： microrobotics     vibration micromotor     actuation nonholonomic planning     nonholonomic constraints compensation    

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A modular design kit for task-adaptable low-cost robots based on BaPaMan design

G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 33-41 doi: 10.1007/s11465-013-0356-5

Abstract:

This paper discusses the redesign of a binary parallel manipulator named BaPaMan (Binary Actuated Parallel Manipulator). The aim of this work is the improvement of the structures stiffness of BaPaMan. Additionally this paper shows the implementation of a construction kit which allows task-adaptation of low-cost robots based on the BaPaMan structure. BaPaMan is a three degree of freedom (DOF) spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA is used to improve the flexure hinge performance, which analyses relations between several design parameters and the stiffness of the entire system. Finally, task-adaptation is achieved by using a design methodology and a parametric CAD model for BaPaMan. Besides the paper introduces first applications of the BaPaMan structure and shows future work.

Keywords： binary actuation     flexure hinges     SMA actuators     low-cost     design kit     task-adaptation    

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Unconventional hydrodynamics of hybrid fluid made of liquid metals and aqueous solution under applied fields

Xu-Dong ZHANG, Yue SUN, Sen CHEN, Jing LIU

Frontiers in Energy 2018, Volume 12, Issue 2,   Pages 276-296 doi: 10.1007/s11708-018-0545-3

Abstract: The hydrodynamic characteristics of hybrid fluid made of liquid metal/aqueous solution are elementary in the design and operation of conductive flow in a variety of newly emerging areas such as chip cooling, soft robot, and biomedical practices. In terms of physical and chemical properties, such as density, thermal conductivity and electrical conductivity, their huge differences between the two fluidic phases remain a big challenge for analyzing the hybrid flow behaviors. Besides, the liquid metal immersed in the solution can move and deform when administrated with non-contact electromagnetic force, or even induced by redox reaction, which is entirely different from the cases of conventional contact force. Owing to its remarkable capability in flow and deformation, liquid metal immersed in the solution is apt to deform on an extremely large scale, resulting in marked changes on its boundary and interface. However, the working mecha- nisms of the movement and deformation of liquid metal lack appropriate models to describe such scientific issues via a set of well-established unified equations. To promote investigations in this important area, the present paper is dedicated to summarizing this unconventional hydrodynamics from experiment, theory, and simulation. Typical experimental phenomena and basic working mechanisms are illustrated, followed by the movement and deformation theories to explain these phenomena. Several representative simulation methods are then proposed to tackle the governing functions of the electrohydrodynamics. Finally, prospects and challenges are raised, offering an insight into the new physics of the hybrid fluid under applied fields.

Keywords： liquid metal     hybrid fluid     hydrodynamics     surface tension     applied fields     self-actuation    

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Modeling and Analysis of Fault-tolerant System With Rejuvenation

Guo Chenghao,Liu Fengyu

Strategic Study of CAE 2007, Volume 9, Issue 10,   Pages 75-79

Abstract: considers both hardware components' faults and "aging"  phenomenon, proposes composing redundant

Keywords： fault-tolerant system     software rejuvenation     software aging     redundant strategy     Non-Markovian stochastic    

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A Self-adaptive Automatic Program Designand Application in Vending Machine

Yu Shiming,Ding Guozheng,Liu Lifeng

Strategic Study of CAE 2007, Volume 9, Issue 11,   Pages 147-150

Abstract: automatically, this article presents automatic program design with uniting combined coding and state redundant

Keywords： self-adaptive     state redundant design     automatic program design     fault-restore     vending machine    

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Title Author Date Type Operation

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

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

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

Journal Article

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

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Journal Article

A new method for boring of non-circular holes

ZHANG Kai, HU De-jin

Journal Article

Surface tension of liquid metal: role, mechanism and application

Xi ZHAO, Shuo XU, Jing LIU

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

A new feature selection method for handling redundant information in text classification

You-wei WANG, Li-zhou FENG

Journal Article

Optimal redundant placement of PMUs in Indian power grid — northern, eastern and north-eastern regions

Pathirikkat GOPAKUMAR, G. Surya CHANDRA, M. Jaya Bharata REDDY, Dusmata Kumar MOHANTA

Journal Article

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

Journal Article

Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation

Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos

Journal Article

A modular design kit for task-adaptable low-cost robots based on BaPaMan design

G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ

Journal Article

Unconventional hydrodynamics of hybrid fluid made of liquid metals and aqueous solution under applied fields

Xu-Dong ZHANG, Yue SUN, Sen CHEN, Jing LIU

Journal Article

Modeling and Analysis of Fault-tolerant System With Rejuvenation

Guo Chenghao,Liu Fengyu

Journal Article

A Self-adaptive Automatic Program Designand Application in Vending Machine

Yu Shiming,Ding Guozheng,Liu Lifeng

Journal Article