Integrated Design Toolbox for Tripod-Based Parallel Kinematic Machines

Bi, Zhuming; Lang, Sherman Y. T.; Zhang, D.; Orban, Peter E.; Verner, Marcel

doi:10.1115/1.2735340

Cited by 44 publications

(13 citation statements)

References 16 publications

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“…If there are 2D or 3D objects or texture files, they can be imported directly and used in the Java3D model; the approach of creating a Java3D from existing CAD models of the components has been introduced in the literature [13]. The following objects have been included in the scene graph model: the layout background, the distributed sensors, the connectivity, the represented sensing data, and the trend of data changes over sensors.…”

Section: Visualizationmentioning

confidence: 99%

An integrated environment for visualization of distributed wireless sensor networks

2013

2013 10th IEEE International Conference on Control and Automation (ICCA)

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With the advance of MEMS sensors and wireless communication technologies, wireless sensor networks (WSNs) become ubiquitous. However, design, monitor and control of WSNs are not trivial tasks. To assist the design and monitoring of a WSN, computer aided software tools are essential; both of designers and users need these tools to model and simulate WSNs. Most of existing simulators have been developed for designers; while a few of user-oriented tools are confined to a specific platform or system. In this paper, a modular framework is proposed for modeling and simulation of WSNs, and the aspects of monitoring and visualization are focused. The framework serves for both of designers and users. The programming solutions to some generic functions have been provided. The developed system is open to adapt special modules. To maximize scalability and flexibility of the system, the Eclipse platform and Java have been used for the development. The resulted integrated system accommodates different operating systems such as Windows and Linux. It is capable of integrating other plug-ins developed in various languages such as Java, C, C++ and Matlab. The user-friendly Graphic User Interface (GUI) is developed to create and visualize the acquired real-time data of WSN. The embodied methodologies are capable of predicting the behaviors of objects in network. The integrated visualization system has been illustrated through a case study simulation.

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Section: Visualizationmentioning

confidence: 99%

An integrated environment for visualization of distributed wireless sensor networks

2013

2013 10th IEEE International Conference on Control and Automation (ICCA)

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“…Those applications possess some strict requirements in terms of accuracy, speed, and working loads, which have been proven challenging to serial robots. However, only a few of PKM types have been practically applied [1,2]. One of the wellrecognized reasons is that a PKM usually needs too many passive joints, and these passive joints become the new sources of the geometric discrepancy and deformations under a force or thermal load.…”

Section: Introductionmentioning

confidence: 99%

“…The authors at the NITC anticipate that the unique structure of the Exechon machine tool would attract the researchers in the area of PKMs to explore more about its characteristics from the viewpoint of kinematics and dynamics. A systematic methodology for design, modeling, and simulation of tripod-based PKM systems has been developed [1,2]. In this paper, this methodology is applied for Exechon machine, the concise models of forward and inverse kinematics will be developed; those models can be applied in analyzing kinematic, kinetic, and dynamic characteristics of Exechon machine tool, such as workspace, dexterity, stiffness, and dynamic load.…”

Section: Introductionmentioning

confidence: 99%

Kinematics of parallel kinematic machine Exechon

Zhu¹,

Jin²,

Gibson³

et al. 2009

2009 International Conference on Information and Automation

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Due to the potential advantages of heavy load, high speed, and high precision, hundreds of parallel kinematic machines have been proposed. However, only a few of them have been practically applied, and one of the recentlydeveloped parallel kinematic machines is the Exechon machine tool. It is based on the success of the Tricept, and its inventor has made tremendous efforts to promote its machining applications in aerospace and automotive manufacturing. The current control system of the Exechon machine tool has been developed by Siemens. However, quantifiable theoretical studies have not yet conducted to prove its super performance, and its kinematic model has been publically available. In this paper, the kinematic characteristics of this new machine tool is investigated, the concise models of forward and inverse kinematics have been developed. These models can be used as a tool or references for the evaluation of the performances of the Exechon machine tool or other over-constrained parallel kinematic machines.

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“…Due to their intrinsic advantages in the factors of pay load, stiffiless, accuracy, operational velocity and acceleration compared with the traditional serial counterpart [1][2][3][4][5][6][7][8], parallel manipulators have been applied to various industrial fields such as machine tools, motion simulators, micro robots, medical devices and physical sensors [9][10][11][12][13][14][15]. However, the mechanical structure of parallel robotic manipulator is considerably complicated since it is constituted with many independent motion chains rather than one single link, thus increasing the error sources and error probability.…”

Section: Introductionmentioning

confidence: 99%

A novel calibration method of parallel kinematic manipulators based on multi-population coevolutionary neural network

Zhang

Gao

Jiang

2011

2011 IEEE Symposium on Computational Intelligence in Multicriteria Decision-Making (MDCM)

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Kinematic calibration is an indispensable procedure for the predefined parallel kinematic manipulators to improve their operational accuracy with/without external loads. However, different with the calibration of simple devices such as force/torque sensors, as a rather complex mechanical system, the calibration of parallel kinematic manipulator is complicated and time-consuming. In this research, the concept of optimal robust calibration is developed as an effective approach to largely reduce various errors of the predefined parallel mechanism. A multi-population coevolutionary neural network is designed to establish the complex nonlinear relationship between joint variables and the related deviation with respect to the measured pose of the end-effector. With this algorithm, the pseudo-error in arbitrary joint configuration is obtained and thus the control parameters can be adjusted accordingly. The results are validated through the case studies about a unique parallel robotic machine tool.

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Integrated Design Toolbox for Tripod-Based Parallel Kinematic Machines

Cited by 44 publications

References 16 publications

An integrated environment for visualization of distributed wireless sensor networks

An integrated environment for visualization of distributed wireless sensor networks

Kinematics of parallel kinematic machine Exechon

A novel calibration method of parallel kinematic manipulators based on multi-population coevolutionary neural network

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