Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Zhang, Dongsheng; Xu, Yundou; Yao, Jiantao; Zhao, Yongsheng

doi:10.1186/s10033-018-0251-4

Cited by 22 publications

(20 citation statements)

References 29 publications

(30 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…After the simulation, the displacement, velocity, acceleration and force curve of the driving joint of each unit parallel mechanism module can be obtained as outputs. The simulation results are shown in Figures 8,9,10,11,12,13. where x, y, z, φ x , φ y , and φ z denote the position and orientation of the distal moving platform of the HRETR. By observing the kinematic diagram of Figures 8,9,10,11,12,13 the kinematic law of each limb meets the preset requirements (both the initial and terminal velocity and the acceleration are 0).…”

Section: Dynamic Analysis Of the Hretrmentioning

confidence: 99%

“…With the introduction of the concept of Industry 4.0, robots have become more and more essential in intelligent manufacturing [1]. Despite the wide application of robots in the industry [2][3][4][5], medical sector [6][7][8][9][10], aerospace field [11,12], and other fields, consumers' needs are becoming increasingly dynamic and complex [13]. This challenge can be resolved with better motion flexibility, stiffness and load capacity of robots.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

Zhao

Song

Zhang

et al. 2020

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles, the traditional robots cannot accomplish these mentioned complex operational tasks and meet the dexterity demands. The hyper-redundant bionic robots can complete complex tasks in the unstructured environments by simulating the motion characteristics of the elephant’s trunk and octopus tentacles. Compared with traditional robots, the hyper-redundant bionic robots can accomplish complex tasks because of their flexible structure. A hyper-redundant elephant’s trunk robot (HRETR) with an open structure is developed in this paper. The content includes mechanical structure design, kinematic analysis, virtual prototype simulation, control system design, and prototype building. This design is inspired by the flexible motion of an elephant’s trunk, which is expansible and is composed of six unit modules, namely, 3UPS-PS parallel in series. First, the mechanical design of the HRETR is completed according to the motion characteristics of an elephant’s trunk and based on the principle of mechanical bionic design. After that, the backbone mode method is used to establish the kinematic model of the robot. The simulation software SolidWorks and ADAMS are combined to analyze the kinematic characteristics when the trajectory of the end moving platform of the robot is assigned. With the help of ANSYS, the static stiffness of each component and the whole robot is analyzed. On this basis, the materials of the weak parts of the mechanical structure and the hardware are selected reasonably. Next, the extensible structures of software and hardware control system are constructed according to the modular and hierarchical design criteria. Finally, the prototype is built and its performance is tested. The proposed research provides a method for the design and development for the hyper-redundant bionic robot.

show abstract

Section: Dynamic Analysis Of the Hretrmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

Zhao

Song

Zhang

et al. 2020

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

show abstract

“…To facilitate the inverse dynamic analysis [18,[26][27][28][29], a local coordinate system o i -x i y i z i was built in the vertex A i of the fixed base, which represented the orientation of limb i with respect to the fixed frame, as shown in where s is the represented sine function, and c is the represented cosine function. The ith (i = 2, 3) driving limb of the mechanism consisted of a cylinder and a piston, as shown in Figure 13.…”

Section: Velocity and Acceleration Of Actuating Limbsmentioning

confidence: 99%

“…The acceleration of the center of mass of the lower and upper rods of the passive limb are then expressed as: (29)…”

Section: Acceleration Analysismentioning

confidence: 99%

Dynamic Analysis and Performance Verification of a Novel Hip Prosthetic Mechanism

Guo

Wang

et al. 2020

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

To assist an amputee in regaining his or her daily quality of life, based on analysis of the motion characteristics of the human hip, a 2-UPR/URR parallel mechanism with a passive limb was designed. The inverse kinematics of this mechanism was analyzed based on a closed-loop vector method. The constrained Jacobian matrix and kinematic Jacobian matrix of each limb were then analyzed, and a 6 × 6 fully Jacobian matrix was constructed. Based on this, kinematic performances were analyzed and summarized. Finally, the dynamic model of the mechanism was constructed based on the virtual work principle, and its theoretical solution was compared with the numerical results, which were obtained in a simulation environment. Results showed that the prosthetic mechanism had a larger rotating workspace and better mechanical performance, which accorded a range of motion and bearing capacity similar to that of the human hip in multiple gait modes. Moreover, the validity of the dynamic model and inverse kinematics were verified by comparing the theoretical and simulation results. Furthermore, with flexion and extension, the torque change in the hip prosthetic mechanism was similar to that of the human hip, which demonstrated the feasibility of the hip prosthetic mechanism and its good dynamic performance.

show abstract

“…The comprehensive theory of linkage mechanisms and multi-objective optimization design have been classical research focuses in the field of mechanical design. Optimization design has been widely studied in optimization theory, mechanical properties, and material manufacturing [2][3][4][5][6][7]. Alaa Hassan et al [8] used the non-dominated sorting genetic algorithm version II (NSGA-II) to optimize the robot gripper design.…”

Section: Introductionmentioning

confidence: 99%

Multi-objective Optimization Design of a Heavy Duty Folding Mechanism and Self-discharging Equipment Development

Yin

Huang

et al. 2020

Preprint

View full text Add to dashboard Cite

In this paper, we investigated the technical problem of the recovery of overlength and heavy load conveying booms of self-unloading ships. A method of folding the conveying boom with a hydraulic-four-bar mechanism is presented, and by using a mathematical model for the optimization of folding speed stationary with ADAMS software, the optimization data and results were obtained. The multi-objective optimization index is introduced, and the multi-objective optimization problem is discussed. The results of the multi-objective optimization showed that parameters such as angular velocity and the change of angular acceleration of the conveyor boom were optimized. The paper has manufactured the connecting rod mechanism, and developed the self-discharging folding conveyance equipment. Through practical application, we determined that the developed folding conveying equipment had the advantages of smooth movement and high folding efficiency.

show abstract

Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Cited by 22 publications

References 29 publications

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

Dynamic Analysis and Performance Verification of a Novel Hip Prosthetic Mechanism

Multi-objective Optimization Design of a Heavy Duty Folding Mechanism and Self-discharging Equipment Development

Contact Info

Product

Resources

About