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Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundanthumanoid manipulator

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: Based on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an exampleThe end-effector error (position and orientation) and the ‘away limitation level’ value of the 8-DOFhumanoid manipulator constitute the fitness function of HBBO.The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundanthumanoid manipulator.

Keywords： Inverse kinematics problem     8-DOF humanoid manipulator     Biogeography-based optimization (BBO)     Differential    

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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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A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 109-119 doi: 10.1007/s11465-012-0323-6

Abstract:

Working capacity refers to the velocity output and force output of a manipulator.

Keywords： working capacity     multi-DOF manipulator     capacity polytope     excavating mechanism    

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Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 46-60 doi: 10.1007/s11465-020-0606-2

Abstract: A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combiningLastly, the optimal structure parameters of the proposed 5-DOF HPM are determined.

Keywords： 5-DOF hybrid manipulator     reconfigurable base     large workspace     dimensional synthesis     optimal design    

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Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 299-304 doi: 10.1007/s11465-006-0030-2

Abstract: Therefore, various manufacturing imperfections were studied by taking a planar 3 degrees of freedom (3-DOFthe end-effector within the required range; they may also be helpful while calibrating this kind of manipulator

Keywords： centerline     stiffness     effective     manipulator     precision    

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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.

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

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 1, doi: 10.1007/s11465-022-0722-2

Abstract: This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMsThen, a novel type of one-degree-of-freedom (1-DOF) elbow joint is proposed based on this principle,which is also applied to design the 3-DOF wrist and shoulder joints.Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, jointstiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the

Keywords： modular robotic arm     anti-parallelogram mechanism     Bowden cable     humanoid arm     lightweight joint design    

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0696-0

Abstract: Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions.a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid

Keywords： function-oriented     tendon driven     prosthetic hand     optimization     humanoid     underactuated    

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Zeolitic imidazolate framework-8 (ZIF-8) for drug delivery: A critical review

Simin Feng, Xiaoli Zhang, Dunyun Shi, Zheng Wang

Frontiers of Chemical Science and Engineering 2021, Volume 15, Issue 2,   Pages 221-237 doi: 10.1007/s11705-020-1927-8

Abstract: Zeolitic imidazolate framework-8 (ZIF-8), composed of Zn ions and imidazolate ligands, is a class ofaspects ranging from synthesis methods, property characterization to potential applications of ZIF-8.This review focuses on the recent development of ZIF-8 synthesis methods and its promising applicationsThe potential risks of using ZIF-8 for drug delivery are also summarized.

Keywords： zeolitic imidazolate framework-8 (ZIF-8)     synthesis methods     applications     drug delivery    

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Role of salivary matrix metalloproteinase-8 (MMP-8) in chronic periodontitis diagnosis

Namita Gupta,N.D. Gupta,Akash Gupta,Saif Khan,Neha Bansal

Frontiers of Medicine 2015, Volume 9, Issue 1,   Pages 72-76 doi: 10.1007/s11684-014-0347-x

Abstract: This study aimed to correlate salivary levels of MMP-8 and periodontal parameters of chronic periodontitisto establish MMP-8 as a noninvasive marker for the early diagnosis of chronic periodontitis.Around 3 ml of unstimulated and whole expectorated saliva was collected for MMP-8 estimation by ELISAusing Quantikine human total MMP-8 immunoassay kits.The MMP-8 levels and periodontal status (PPD, CAL, GI, and PI) of groups I and II showed positive and

Keywords： matrix metalloproteinase-8     chronic periodontitis     pocket probing depth     clinical attachment level     gingival    

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Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 4,   Pages 421-425 doi: 10.1007/s11465-008-0063-9

Abstract: closed loop PI control system is designed to achieve high position accuracy during the control of a two-DOF

Keywords： settling     position accuracy     PI control     control algorithm     orthogonal    

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Reverse driving character of 2-DOF closed chain haptic device

GUO Wei-dong, GUO Xin, ZHANG Yu-ru

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 356-359 doi: 10.1007/s11465-006-0029-8

Abstract: This article mainly investigates the problem of 2-DOF haptic device design f
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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 actuatedmanipulator with a novel roll–pitch–yaw spherical wrist.spherical, and universal joints, respectively; the underlined letter indicates the active joint), the 2-DOFThe 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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One DOF mechanism for the mechanical harvest of vines in an arbor structure and the validation of the

Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 3,   Pages 221-232 doi: 10.1007/s11465-015-0347-9

Abstract:

In the mechanized harvest of vines, grape berries are detached through the vibration to the structure supporting the clusters. According to the kind of guide selected, the clusters require one or two vibration directions in the structure. For guiding in parral structures, vibration is necessary in two directions or planes: One perpendicular to the other. The guide branches producing the clusters develop in these planes, and the guiding is called H-guiding. Mechanism theory indicates that a mechanism has as many degrees of freedom as its actuators, and an actuator is needed to achieve a certain vibration. Having the smallest number of possible actuators is beneficial in reducing moving parts and achieving more compact and easily controllable mecha-nisms. In this case, a single degree-of-freedom mechanism is proposed. It is capable of generating vibrations on two planes: One perpendicular to the other. This mechanism is the sum of two link mechanisms on perpendicular planes with a common outlet located at the output rod of the mechanism where the actuator is found. As the distance between the soil and the elements containing the clusters is not constant, a system has been designed to measure the accelerations at the bars and the rocker to validate the acceleration values that detach the grape berries in a prototype in a lab experiment, to ensure that the acceleration needed for pulling the grape berries are produced at any contact point of the bar.

Keywords： harvest     mechanisms     one DOF     vibration    

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Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1,   Pages 33-39 doi: 10.1007/s11465-005-0015-6

Abstract: Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with lessA novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based onThe TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation

Keywords： control     real-time control     superunderactuation     TH-2     personification    

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Title Author Date Type Operation

Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundanthumanoid manipulator

Zi-wu REN,Zhen-hua WANG,Li-ning SUN

Journal Article

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

Journal Article

A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

Journal Article

Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Journal Article

Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

Journal Article

LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Journal Article

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

Journal Article

Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Journal Article

Zeolitic imidazolate framework-8 (ZIF-8) for drug delivery: A critical review

Simin Feng, Xiaoli Zhang, Dunyun Shi, Zheng Wang

Journal Article

Role of salivary matrix metalloproteinase-8 (MMP-8) in chronic periodontitis diagnosis

Namita Gupta,N.D. Gupta,Akash Gupta,Saif Khan,Neha Bansal

Journal Article

Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

Journal Article

Reverse driving character of 2-DOF closed chain haptic device

GUO Wei-dong, GUO Xin, ZHANG Yu-ru

Journal Article

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

Journal Article

One DOF mechanism for the mechanical harvest of vines in an arbor structure and the validation of the

Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA

Journal Article

Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

Journal Article