Article
Engineering, Mechanical
Lin Wang, Yuefa Fang, Dan Zhang
Summary: This paper designs a novel family of 4-DOF hybrid parallel robots with an integrated three-fingered robot end effector. The proposed robot features a parallel structure, offering advantages synonymous with parallel mechanisms. The three-fingered robot end effector enables stable grasping of objects with different sizes and shapes.
MECHANISM AND MACHINE THEORY
(2023)
Article
Robotics
Karen Bodie, Marco Tognon, Roland Siegwart
Summary: In this study, an aerial manipulation platform comprising a parallel 3-DOF manipulator mounted on an omnidirectional tilt-rotor aerial vehicle was introduced to address challenges in precise, dynamic, and versatile aerial manipulation. Experimental flights demonstrated the advantages of an active manipulator over a fixed arm and highlighted the practical limitations of dynamic compensation terms, inspiring future research in precise and dynamic aerial manipulation.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Engineering, Electrical & Electronic
Yok Jye Tang, Xinmiao Zhang
Summary: Generalized integrated interleaved (GII) codes are among the best error-correcting codes for next-generation hyper-speed digital communications and storage. This paper proposes a low-complexity scheme to handle the different error-correcting capabilities of the involved codes and develops two efficient parallel resource-shareable BCH encoder architectures for GII encoder components to reduce complexity and latency. The proposed designs lead to significant reductions in latency and area overheads compared to alternative designs.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
(2022)
Article
Engineering, Mechanical
Marceau Metillon, Philippe Cardou, Kevin Subrin, Camilo Charron, Stephane Caro
Summary: Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances, but their orientation workspace is usually limited due to collisions. This paper introduces the design of a hybrid robot composed of a CDPR and a PSW, providing a large translational workspace and unlimited orientation workspace.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2021)
Article
Engineering, Mechanical
Zhihao Xia, Dan Zhang, Yanyu Chen, Chunxu Tian, Jian Liu, Chenwei Wu
Summary: This paper presents a 6-DOFs generalized parallel manipulator that can be used as a humanoid leg. It introduces a novel method called Node Response Method (NRM) to identify the isomorphism of contracted graphs. The performance of the manipulator in different terrains is evaluated by analyzing the limbs and establishing a terrain adaptive index.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Erika Ottaviano, Andrea Arena, Vincenzo Gattulli
Summary: This paper presents a geometrically exact analytical model for cable-driven parallel manipulators, aiming to investigate the precise positioning of a rigid body in a Cartesian space in three dimensions. The model includes the mass, elasticity, and sag effect of the cables, and solves the direct and inverse kinematic problems through nonlinear equations.
MECHANISM AND MACHINE THEORY
(2021)
Article
Agriculture, Multidisciplinary
Wentai Fang, Zhenchao Wu, Weiwu Li, Xiaoming Sun, Wulan Mao, Rui Li, Yaqoob Majeed, Longsheng Fu
Summary: The fruit detachment force (FDF) between fruit and stem is a crucial parameter for designing fruit picking robots. China has orchards with multiple varieties of kiwifruit, which poses challenges for maintaining optimal working conditions for different varieties due to variations in FDF at different fruit-stem angles (FSA). This study developed a special fixture and used a texture analyzer to measure FDF at different FSA for different varieties of kiwifruit. The results provide guidance for designing a universal robotic picking end-effector for multiple varieties of kiwifruit.
COMPUTERS AND ELECTRONICS IN AGRICULTURE
(2023)
Article
Chemistry, Analytical
Christian Friedrich, Steffen Ihlenfeldt
Summary: This study focuses on parameter identification procedures for force measurement models in hexapod structures, utilizing two excitation strategies and optimizing poses and trajectories for accurate parameter identification. Experimental studies validate the procedures, showing that both strategies allow for accurate parameter identification in an operational machine state within a fast procedure.
Article
Engineering, Mechanical
Jian Liu, Dan Zhang, Yanyu Chen, Zhihao Xia, Chenwei Wu
Summary: In this paper, the concept and design principles of adaptive landing and aerial manipulation mechanism (ALAM) are proposed. The mechanism's structure synthesis and parameter optimization are performed, and a prototype is developed and validated for its workspace range and landing performance.
MECHANISM AND MACHINE THEORY
(2022)
Article
Mechanics
Merlin Morlock, Markus Burkhardt, Robert Seifried, Peter Eberhard
Summary: The concept of servo constraints is applied to trajectory tracking control of parallel robots with flexibilities in structural links. Solution approaches via stable inversion are proposed to obtain noncausal solutions, and a linear-quadratic regulator is used to handle errors within link flexibilities. Additionally, a systematic input-output feedback linearization approach is proposed for flexible link parallel robots, showing superior performance compared to classical rigid multibody modeling.
MULTIBODY SYSTEM DYNAMICS
(2022)
Article
Engineering, Electrical & Electronic
Yanglong Li, Yujun Xue, Fang Yang, Haichao Cai, Hang Li
Summary: This study proposes a comprehensive compensation method for trajectory error in cable-driven parallel mechanisms. It utilizes the improved sparrow search algorithm and the cable length space error compensation algorithm to address this problem. By establishing the kinematic model and error models, the study compensates for the motion trajectory error caused by geometric and non-geometric parameter errors, effectively improving the accuracy of the end-effector motion trajectory.
Article
Agronomy
Xiong Zhao, Di Cheng, Wenxun Dong, Xingxiao Ma, Yongsen Xiong, Junhua Tong
Summary: This research develops an image recognition system suitable for seedling health recognition and pose judgement, and designs a plug-in end effector to reduce leaf damage. By conducting orthogonal tests, a substrate parameter combination suitable for culling operations is obtained, and a kinematics and dynamics model of a parallel robot is built.
Article
Engineering, Electrical & Electronic
Tommaso Marchi, Giovanni Mottola, Josep M. Porta, Federico Thomas, Marco Carricato
Summary: This study focuses on parallel robots with configurable platforms, specifically looking at n-RRR planar configurable robots. The research delves into the geometric design, direct and inverse kinematics, singularity configurations, and experimental testing of a 5-RRR robot prototype.
Article
Mathematics, Interdisciplinary Applications
Sa'ud Al-Sa'di, Maria Bibi, Youngsoo Seol, Muhammad Muddassar
Summary: In this paper, the generalized Milne-type integral inequalities are investigated on fractal sets using the framework of generalized m-convex mappings. A new generalized integral identity involving differentiable generalized m-convex mappings is proposed, based on which several latest fractal Milne-type integral inequalities are derived. Fractal Milne-type inequalities for bounded mappings are also provided. Illustrative examples and applications to additional inequalities for the generalized special means and various error estimates for the generalized Milne-type quadrature formula are obtained to further support the results presented in this research.
FRACTALS-COMPLEX GEOMETRY PATTERNS AND SCALING IN NATURE AND SOCIETY
(2023)
Article
Engineering, Mechanical
Hao Pan, Genliang Chen, Yezheng Kang, Hao Wang
Summary: This work proposes a flexible-link parallel mechanism using elastic rods as limbs for translational movement in a large workspace, with kinetostatics models established based on principal axes decomposition. The design allows for quasi 3-degree-of-freedom translation with extremely small twist, as validated through workspace experiments and pose accuracy evaluations.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2021)
Article
Engineering, Aerospace
Guodong Tan, Xuechao Duan, Dongwu Yang, Jun Ma, Dan Zhang
Summary: This paper presents a parametric design approach for a petal-type solid surface deployable reflector. The approach establishes a generic parametric model for the reflector and optimizes its division parameters to simplify the structure, increase deployment reliability, and improve electrical performance. Through parameter analysis and optimization, the effectiveness of the method is verified. The results show that reflectors designed with this method require fewer petals, deploy smoothly with lower failure probability, and have higher antenna gains and lower sidelobe levels compared to existing reflectors of this class.
Article
Engineering, Aerospace
Ye Xie, Shaoming He, Al Savvaris, Antonios Tsourdos, Dan Zhang, Anhuan Xie
Summary: This paper proposes a new convexification method to simplify the energy management problem of a hybrid electric propulsion system and proves the equality between the original problem and the convexified problem. By variable change and equality relaxation, the original problem is convexified and the effectiveness of the convexified problem is verified through numerical examples. Compared with the benchmark optimization-dynamic programming, convex optimization shows important advantages in terms of optimization computation time and control value fluctuation.
AEROSPACE SCIENCE AND TECHNOLOGY
(2022)
Article
Engineering, Mechanical
Qi Zou, Dan Zhang, Guanyu Huang
Summary: In this research, a complete inverse dynamic model for parallel manipulators is formulated using the Lagrangian approach, and two novel dynamic indices are proposed to explore the coupled inertia features among different kinematic limbs. Multiple dynamic indices are analyzed and compared on two translational parallel mechanisms with similar joint configurations. Additionally, a feasible controller is provided to track the desired trajectory of the mobile platform.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Jian Liu, Dan Zhang, Yanyu Chen, Zhihao Xia, Chenwei Wu
Summary: In this paper, the concept and design principles of adaptive landing and aerial manipulation mechanism (ALAM) are proposed. The mechanism's structure synthesis and parameter optimization are performed, and a prototype is developed and validated for its workspace range and landing performance.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Hongyan Tang, Dan Zhang, Chunxu Tian
Summary: This article proposes a virtual equivalent parallel mechanism (VEPM) modeling and performance analysis approach for the landing gear mechanism with three kinematic branch chains, mapping unstructured terrain data to a moving platform. It can effectively evaluate the overall motion performance and stability performance of the landing gear, and help improve the structural design and control algorithm design of the spacecraft landing gear.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Lijian Li, Dan Zhang, Haibo Qu, Yingjia Wang
Summary: This paper presents two generalized models that can quickly formulate the closed-form equations of compliance and precision for multiple-axis flexure hinges. It introduces new types of multiple-axis flexure hinges and verifies the models using finite element results and existing equations. The designed hinges improve the integrated performances of spatial compliant mechanisms.
MECHANISM AND MACHINE THEORY
(2022)
Article
Automation & Control Systems
Naijing Jiang, Dingxu Guo, Shu Zhang, Dan Zhang, Jian Xu
Summary: In this article, a cascade control framework is proposed to attenuate the residual vibration of the underactuated manipulator. The framework consists of two phases, where a path generator trained by reinforcement learning produces a leading signal for the tracking controller in the first phase, and the adaptive proportional derivative controller stabilizes the underactuated manipulator and reduces vibration in the second phase.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2023)
Article
Robotics
Hongyan Tang, James M. Zhang, Dan Zhang
Summary: This paper presents a method for analyzing and optimizing the performance of earth-contact mechanisms (ECM) using a virtual equivalent parallel mechanism (VEPM), as well as a method for constructing ECM performance maps based on digital terrain data.
Article
Robotics
Qi Zou, Dan Zhang, Guanyu Huang
Summary: This paper proposes a novel methodology called the kinematic joint matrix (KJM) for representing parallel mechanisms. The KJM has mapping relations with parallel manipulators with three kinds of kinematic joints and has a smaller matrix size compared to the topology matrix. It can accurately denote two to six degrees-of-freedom parallel architectures. The paper also introduces a convenient approach using a special block diagram to distinguish various kinds of kinematic joint matrices and investigates detailed comparisons between KJM and topology matrix, proposing three regulations for the latter to be applicable to parallel mechanisms.
Article
Engineering, Mechanical
Zhijun Wu, Jiaoliao Chen, Dan Zhang, Jiacai Wang, Libin Zhang, Fang Xu
Summary: A novel time-optimal multi-point trajectory generator (TMTG) is proposed to improve the motion accuracy and efficiency of robotic manipulators. The TMTG utilizes a piecewise motion profile and a series-parallel analytical strategy to generate optimal trajectories. It eliminates overshoot and undershoot by composing the trajectory of various subtrajectories according to constrained velocity direction. The simulations and experiments demonstrate that TMTG outperforms existing approaches in terms of accuracy and efficiency for multi-joint manipulators, with absolute position errors within 0.007 degrees at the end of motion.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Mechanical
Guanyu Huang, Dan Zhang, Qi Zou, Wei Ye, Lingyu Kong
Summary: This paper proposes a method to design reconfigurable parallel mechanisms by applying reconfigurable platforms. Basic rules for designing a reconfigurable platform are proposed based on the requirements of convenience and reliability. Single-stage and double-stage mechanisms are designed based on Degree of Freedom formulation, and both single-loop and multi-loop reconfigurable platforms are presented. Over-constrained mechanisms for the spatial reconfigurable platform are designed according to screw theory. Single-loop over-constrained mechanisms are developed into multi-loop over-constrained mechanisms to meet the structural requirement of multi-limb, parallel-mechanism. Finally, a typical reconfigurable parallel mechanism is selected and analyzed in terms of kinematics, performance, and dimension synthesis based on multi-objective optimization using global indices.
MECHANISM AND MACHINE THEORY
(2023)
Article
Chemistry, Multidisciplinary
Renshuo Chen, Zhijun Wu, Dan Zhang, Jiaoliao Chen
Summary: In order to repair leaks in a pipeline in a timely manner and reduce economic losses, a multizone leakage detection method based on the YOLOv5 and OMD-ViBe algorithm is proposed to detect the location and leakage rate of the metal hose.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Electrical & Electronic
Lanqing Pan, James W. W. Zhang, Dan Zhang, Hongyan Tang
Summary: This paper presents and investigates a new three-rotation (3R) parallel compliant mechanism that uses compliant rods to achieve three rotations. The mobility analysis is based on the Cosserat rod model and Lagrangian dynamics equations, and the dynamics equations are effectively solved using the back-propagation neural network and chaos-enhanced accelerated particle swarm optimization. A simplified model is proposed for kinematic analysis, which includes discussions on forward kinematics, inverse kinematics, singularities, and the workspace. Experiments with a prototype are conducted to verify the accuracy and stability of the mobility analysis and the simplified model.
Article
Engineering, Electrical & Electronic
Ziqi Xu, Xuechao Duan, Yue Zhu, Dan Zhang
Summary: This paper proposes a laser projection positioning technique for large composite production based on a scanning galvanometer. By solving the projecting model of the scanning galvanometer, the pose calculations and autocorrection technology for the galvanometer projection are addressed. An improved genetic algorithm is used to optimize the pose calculations, and the projection pattern is corrected by the perspective transform method to ensure accuracy. Experimental results demonstrate that the proposed method has high accuracy, robustness, and fast convergence, making it a potential candidate for projection positioning of large composite material layups.
Article
Robotics
Tan Zhang, Dan Zhang, Wenjun Zhang
Summary: This paper develops an underactuated resilient robot that utilizes a combination of passive joints, active joints, adjustable links, and passive links. A novel method based on the genetic algorithm was proposed to determine the goal configuration of a partially damaged robot. The simulation of a 3-DOF robot manipulator illustrates this model.
Article
Engineering, Mechanical
Antonella Castellano, Pietro Stano, Umberto Montanaro, Marco Cammalleri, Aldo Sorniotti
Summary: This paper proposes a new control strategy for hybrid electric vehicles, called Model Predictive Control (MPC), and considers the losses in transmission gears. Through a case study on Chevrolet Volt, the results show that the simplified internal model has a minor impact on fuel consumption performance.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Rui Peng, Gregory S. Chirikjian
Summary: This article introduces a method of designing morphable thick-panel origami structures using reconfigurable linkages, which improves the potential of origami techniques for different tasks and solves the limitations of one-DOF and multiple-DOF folding structures.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Gaohan Zhu, Weizhong Guo, Yinghui Li, Youcheng Han
Summary: Comprehensive and accurate performance evaluation is crucial for profile synthesis and analysis of higher pair mechanisms. This paper proposes evaluation indices and methods for the transmission performance of planar higher pair mechanisms from different perspectives. It subdivides the transmission performance into element-based performance and joint-based performance and develops novel indices specific to higher pair mechanisms. A graphical mapping method based on element-based performance is also proposed for intuitive analysis. Practical examples validate the effectiveness of the proposed indices and methods for evaluating the performance of higher pair mechanisms.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Ke Wu, Gang Zheng, Guimin Chen, Shorya Awtar
Summary: Researchers proposed a new modeling method, namely Body-frame Beam Constraint Model (BBCM), to predict and optimize the design of high-precision compliant mechanisms (CMs).
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Youcheng Han, Weizhong Guo, Changjie Zhao, Ziyue Li, Ze Fu, Yinghui Li
Summary: This study proposes a structural synthesis methodology that considers motion, force, and energy characteristics simultaneously to design efficient mechanisms.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Cristian Enrico Capalbo, Daniel De Gregoriis, Tommaso Tamarozzi, Giuseppe Carbone, Domenico Mundo
Summary: This study proposes a novel flexible multibody formulation that enables efficient updating of models while maintaining small size and high accuracy. Numerical validation demonstrates its wide applicability across various materials and mechanisms, showing promising results in terms of accuracy.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Weihao Zhao, Junbei Liao, Wei Qian, Haoyong Yu, Zhao Guo
Summary: This paper presents a newly designed compliant actuator using a tensile springs array to address the challenges in achieving linear and consistent elastic properties, low friction, minor hysteresis, and good compliance in series elastic actuators (SEA). The unique geometry of the spring array enables the SEA to have consistent rotary stiffness with minimal friction and hysteresis. The device's performance is evaluated using PID and sliding mode control, demonstrating its constant low rotary stiffness and torque tracking bandwidth, making it suitable for human-robot interaction requirements.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Mohui Jin, Yukang Luo, Xing Xu, Bowei Xie, Weisheng Wang, Zewei Li, Zhou Yang
Summary: This paper presents a method for evaluating the contact interaction between compliant mechanisms and external objects. By establishing a numerical model and introducing contact springs to describe the contact forces, the deformation and normal contact force/stress can be accurately calculated. The static equilibrium configuration and contact force/stress can be obtained by minimizing the total potential energy function of the system.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Alejandro G. Gallardo, Martin A. Pucheta
Summary: This paper presents a method for the synthesis of parallel flexure systems using Screw Theory and Linear Algebra. The method is validated through three case studies and offers a simple and precise design with decoupled actuators.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Xiao Wang, Chenglin Liu, Haoxiang Sun, Hanwen Song
Summary: This paper presents a new decomposition mode for robot-world calibration, which decomposes the Ad(SE(3)) equation using Chasles' motion. A two-step method based on point set matching is proposed. The superiority of this method is verified through simulations and experiments.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Yanlin Chen, Xianmin Zhang, Yanjiang Huang, Yanbin Wu, Jun Ota
Summary: This study establishes an error model for a 3-RRR+UR spherical parallel mechanism and analyzes the sensitivity of error parameters. A design structure is proposed to reduce input errors based on the analysis. Experimental results show that the multiloop circuit incremental method provides more accurate results.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Summary: This paper presents a method for analyzing the performance of gravity-balanced serial robotic manipulators under dynamic loads and uses a three-degree-of-freedom planar serial manipulator as a case study. The significance of this method is demonstrated by evaluating the impact of dynamic loads on gravity-balanced performance and proposing a step-by-step design procedure to improve it.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Shifeng Rong, Jiange Zhang, Xing Zhang, Keliang Li, Kaibin Rong, Zhenyu Zhou, Han Ding
Summary: This article proposes a data-driven dry cutting tool collaborative optimization model to improve the economic and environmental attributes of facehobbing hypoid gears. An innovative ease-off tooth contact analysis method is introduced to establish accurate relations between ease-off flank and loaded contact performance evaluations. The proposed model significantly improves sustainability in terms of economic and environmental assessments.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Kemal Eren, Soley Ersoy, Ettore Pennestri
Summary: This research investigates the instantaneous kinematics of the terminal link of a planar two-link open chain using the complex-number technique and higher-order instantaneous invariants.
MECHANISM AND MACHINE THEORY
(2024)
Article
Engineering, Mechanical
Bo Han, Zhantu Yuan, Jiachuan Zhang, Yundou Xu, Jiantao Yao, Yongsheng Zhao
Summary: This paper proposes novel deployable mechanism units with self-limiting position function, and constructs ring truss deployable mechanisms. The degrees of freedom (DOF) of deployable units are analyzed and it is proved that the constructed ring truss deployable mechanisms have only one DOF. The dynamic model of the deployable mechanism unit with passive actuation is established and verified by simulation. The deployable mechanism units proposed in this paper have the advantages of good scalability and stability, and have broad application prospects.
MECHANISM AND MACHINE THEORY
(2024)
