Article
Engineering, Electrical & Electronic
Latifah Nurahmi, Dongming Gan, Wega Tama Adi Setya
Summary: Metamorphic parallel mechanisms can change into multiple configurations with different motion types and mobility, which require a unified solution of inverse dynamics to cross singularities. This paper proposes additional conditions based on the consistency condition and extends into the second indeterminate form for a 3-(rR)PS metamorphic parallel mechanism. The dynamic models and conditions to cross singularities are established using Lagrange formulation. The results are validated through ADAMS simulation.
Article
Engineering, Marine
Gang Tang, Jinman Lei, Furong Li, Weidong Zhu, Xiuzhong Xu, Baoheng Yao, Christophe Claramunt, Xiong Hu
Summary: This study proposes a modified 6-DOF hybrid serial-parallel platform (HSPP) for ship wave compensation. The HSPP includes a 3UPU_UP parallel module (PM) and a serial module (SM). The position and orientation of rotational axes and translational axes in the system are analyzed using screw theory, and the differences between the HSPP and its PM are analyzed in terms of singularity and reachable workspace. The HSPP inherits the characteristics of the PM and adds the SM to improve its deficiencies.
Article
Engineering, Mechanical
Huiping Shen, Yinan Zhao, Ju Li, Guanglei Wu, Damien Chablat
Summary: This paper presents a novel 3-DOF translational parallel manipulator using a topological design method based on position and orientation characteristic equations. The proposed manipulator features a simple structure, symbolic direct kinematics, and partially-decoupled property, suitable for manufacturing large workpieces.
MECHANISM AND MACHINE THEORY
(2021)
Article
Automation & Control Systems
Xingzhao Guo, Zhihao Zhou, Qining Wang
Summary: A robotic brace based on 3-RPR parallel mechanism has been proposed to assist trunk moving and train the trunk core muscle groups. By using an improved genetic algorithm, the optimal structural parameters were sought and two prototypes were built to analyze the performance improvement. The results show that the prototype with optimal structural parameters has better performance and lower energy consumption.
Article
Mechanics
Soheil Zarkandi
Summary: This article introduces a novel flight simulator manipulator with four degrees of freedom and presents unique working and assembly modes. Kinematic analysis shows that the manipulator can be designed to have a workspace free of singularities.
MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES
(2021)
Article
Engineering, Mechanical
Xu Liang, Xiang Zeng, Guotao Li, Wentao Chen, Tingting Su, Guangping He
Summary: Introduced a novel kinematically redundant parallel robot which overcomes the limitations of the GSM by adding three redundant actuators, and conducted analysis on its structure, kinematics, workspace, and singularities. Multi-parameter, multi-objective optimization was used to optimize its parameters, and an experimental prototype was designed based on the optimization results.
Article
Engineering, Mechanical
Xianwen Kong
Summary: This paper presents a systematic study of 3-UPU translational parallel mechanisms (TPMs) with skewed base and moving platform. The classification of these TPMs is based on their constraint singularity loci, and a novel 3-UPU TPM is proposed. Reconfiguration analysis shows that this new TPM can only transition from a 3-DOF translational mode to one general 3-DOF operation mode. The work also reveals a 3-UPU parallel mechanism that allows for 3-DOF translation and 1-DOF infinitesimal rotation of the moving platform.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2022)
Article
Mechanics
Edward J. Haug
Summary: This paper presents a mechanics-based formulation for parallel manipulators, utilizing differential topology to extend local kinematic relationships to singularity-free, path-connected domains of functionality. It is demonstrated that any trajectory in manipulator configuration space between distinct domains of functionality must encounter a singularity. Methods for defining functionality domains using linear algebra and multivariable calculus are presented, with examples of three parallel manipulators demonstrating varying levels of complexity.
MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES
(2021)
Article
Engineering, Mechanical
Haibo Qu, Lanqing Hu, Sheng Guo
Summary: This paper investigates the singularity of a planar mechanism with kinematic redundancy, establishing an inverse kinematics model and conducting comparison analysis to determine the unique inverse solution of the mechanism. Workspace-singularity map and singular configurations are drawn based on obtained Jacobian matrices and singular condition. Adjusting kinematic redundant actuated parameter can change the workspace boundary and singular configuration for singularity avoidance.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2021)
Article
Engineering, Mechanical
Lin Wang, Yuefa Fang, Dan Zhang, Luquan Li
Summary: This study presents a family of novel translational parallel mechanisms (TPMs) with simpler structures and improved controllability. Different driving systems are applied to avoid the increased moving mass problem. The characteristics of the mechanisms and their singular configurations are analyzed and validated through numerical simulations, and the reachable workspace of the mechanisms is explored.
FRONTIERS OF MECHANICAL ENGINEERING
(2022)
Article
Engineering, Mechanical
Jie Zhao, Cuncun Wu, Guilin Yang, Chin-Yin Chen, Silu Chen, Ciyuan Xiong, Chi Zhang
Summary: A method of modifying PM using M-type assembly mode and offset angle was proposed to overcome the limitations of the original design. The reachable workspace was significantly increased through optimization algorithm.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Hai-bo Tian, Cheng-yu Wang, Hong-wei Ma, Jing Xia
Summary: This study proposes a metamorphic parallel mechanism based on conventional mechanisms, called 3-RPS/(H). In contrast to the 3-RPS mechanism, this mechanism includes a novel intermediate metamorphic limb, which, along with the locking device, enhances its dexterity. The configurations, degrees-of-freedom, inverse kinematic analysis, and workspace comparison with a conventional 3-RPS parallel mechanism are performed, demonstrating the better dexterity of the 3-RPS/(H) mechanism.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Article
Engineering, Mechanical
Canran Li, Nianfeng Wang, Kunjie Chen, Xianmin Zhang
Summary: This study introduces a workspace called prescribed flexible orientation workspace (PFOW) to characterize the orientation capability of PPMs. By building performance characteristic indices, the study helps optimize and compare 3-degree-of-freedom PPMs, and determines the best configuration through graphical performance comparison.
MECHANISM AND MACHINE THEORY
(2022)
Article
Robotics
Matteo Russo, Marco Ceccarelli
Summary: This paper proposes a geometric formulation to describe the workspace of parallel manipulators, obtaining the workspace volume and boundary for each limb with an algebraic formulation. The overall workspace is determined as the intersection of the limb workspaces, and an algebraic formulation for including obstacles in the computation is also discussed. Analytical models and numerical simulations are reported with an example illustrating the feasibility and efficiency of the proposed formulation on a 3-SPR parallel mechanism.
Article
Robotics
Henrique Simas, Raffaele Di Gregorio, Roberto Simoni
Summary: This paper proposes a general approach to analyze the instantaneous kinematics, workspace, and kinetostatic performances of 3-XXRRU parallel manipulators. The approach can be applied to all members of the family and yields significant findings in terms of singularity conditions, performance indices, optimal actuation system, and the singularity-free workspace. Combining with closed-form solutions for positional analysis, 3-XXRRU PMs emerge as intriguing alternatives to other six-DOF PMs.
Article
Robotics
Irfan Hussain, Oraib Al-Ketan, Federico Renda, Monica Malvezzi, Domenico Prattichizzo, Lakmal Seneviratne, Rashid K. Abu Al-Rub, Dongming Gan
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2020)
Article
Engineering, Mechanical
Toufik Al Khawli, Muddasar Anwar, Dongming Gan, Shafiqul Islam
Summary: This study investigates the integration of a laser profile sensor into an industrial robotic arm for automating quality inspection in manufacturing processes. The registration of measurements from the sensor with respect to the robot base frame is crucial for accuracy in tool positioning and alignment. The calibration procedure using a sharp object shows the most accurate simulation and experimental results under the effect of noise.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2021)
Article
Robotics
Irfan Hussain, Monica Malvezzi, Dongming Gan, Zubair Iqbal, Lakmal Seneviratne, Domenico Prattichizzo, Federico Renda
Summary: This article investigates the design, modeling, prototyping, and testing of soft-rigid tendon-driven grippers, using the design and development of a two-finger soft gripper as a case study. A mathematical formulation based on screw theory is proposed to model gripper dynamics, allowing for different behaviors to be achieved by varying the properties of its passive deformable joints. Experiments with a prototype and an optical tracking system were conducted to validate the proposed mathematical formulation and to assess the gripper's performance in terms of payload, maximum horizontal resisted force, and grasping capabilities.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Article
Robotics
Costanza Armanini, Irfan Hussain, Muhammad Zubair Iqbal, Dongming Gan, Domenico Prattichizzo, Federico Renda
Summary: The Fin-Ray principle, inspired by fish rays physiology, serves as the foundation for numerous robotic devices. This study addresses the lack of theoretical modeling for this type of fingers, providing mathematical modeling, analysis, and prototyping for a closed-chain Fin-Ray finger. The article introduces a general discrete Cosserat approach for closed-chain soft robots modeling and explores the family of Fin-Ray effect fingers, showcasing an improved design that adapts to surfaces and maintains stiffness.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Computer Science, Artificial Intelligence
Xiaoqian Huang, Mohamad Halwani, Rajkumar Muthusamy, Abdulla Ayyad, Dewald Swart, Lakmal Seneviratne, Dongming Gan, Yahya Zweiri
Summary: This paper proposes an event-based robotic grasping framework for multiple known and unknown objects in a cluttered scene. It develops model-based and model-free approaches to grasp known and unknown objects respectively, using the advantages of an event camera. The proposed approaches are experimentally validated and show robustness and a significant advantage in low-light conditions compared to traditional frame-based cameras.
JOURNAL OF INTELLIGENT MANUFACTURING
(2022)
Editorial Material
Engineering, Biomedical
Liwei Shi, Yong Yu, Nan Xiao, Dongming Gan, Wei Wei
APPLIED BIONICS AND BIOMECHANICS
(2022)
Article
Robotics
Omar Faris, Rajkumar Muthusamy, Federico Renda, Irfan Hussain, Dongming Gan, Lakmal Seneviratne, Yahya Zweiri
Summary: This paper presents a sensorized soft robotic finger that integrates a high-speed neuromorphic event-based camera for finger proprioception and exteroception. A learning-based approach is used to process event-based heat maps and achieve specific sensing tasks, demonstrating the feasibility of the sensing approach for both proprioception and exteroception.
Article
Automation & Control Systems
Omar Faris, Huda Alyammahi, Bhivraj Suthar, Rajkumar Muthusamy, Umer Hameed Shah, Irfan Hussain, Dongming Gan, Lakmal Seneviratne, Yahya Zweiri
Summary: This study presents a parallel gripper with an optical mirroring mechanism for vision-based sensing. The gripper uses three mirrors and a convex lens to transfer the grasping activity to a stationary camera while ensuring safety. The prototype gripper is equipped with a neuromorphic event-based camera and experimental evaluation shows its success in detecting slip moments at a high speed of 2 kHz.
Article
Engineering, Electrical & Electronic
Latifah Nurahmi, Dongming Gan, Wega Tama Adi Setya
Summary: Metamorphic parallel mechanisms can change into multiple configurations with different motion types and mobility, which require a unified solution of inverse dynamics to cross singularities. This paper proposes additional conditions based on the consistency condition and extends into the second indeterminate form for a 3-(rR)PS metamorphic parallel mechanism. The dynamic models and conditions to cross singularities are established using Lagrange formulation. The results are validated through ADAMS simulation.
Article
Remote Sensing
Abdullah Mohiuddin, Tarek Taha, Yahya Zweiri, Dongming Gan
Summary: This paper develops a real-time dynamic programming (RTDP) approach for joint slung load transportation using two UAVs, optimizing the trajectory for time and energy consumption. The RTDP algorithm discretizes the journey into distance intervals and obtains an optimal policy for each interval using dynamic programming. The approach uses coordinated motion of UAVs as actuators on the payload and minimizes a cost function derived from a simplified combined model. Validation through simulations and real experiments demonstrates the effectiveness and applicability of the proposed approach.
Article
Computer Science, Information Systems
Xiaoqian Huang, Rana Azzam, Sajid Javed, Dongming Gan, Lakmal Seneviratne, Abdelqader Abusafieh, Yahya Zweiri
Summary: This paper proposes a novel approach to improve the segmentation of unknown objects in cluttered scenes, utilizing a ConvMixer-based UNet model and a ConvMixer-based Cross Fusion module, as well as patch embedding as a pre-processing step. The proposed method successfully enhances the segmentation accuracy of unknown objects.
Article
Computer Science, Information Systems
Irfan Hussain, Ahmad Albalasie, Mohammad Awad, Khaled Tamizi, Zhenwei Niu, Lakmal Seneviratne, Dongming Gan
Summary: Variable Stiffness Actuators (VSA) are proposed as an alternative actuation system for safe physical Human-Robot Interaction (pHRI), with the need for fast response in stiffness tuning highlighted. A novel Discrete Variable Stiffness Actuator (DVSA) is introduced, allowing rapid changes in stiffness levels without complex mechanisms for compliant robotic manipulators. Experimental validation, dynamic parameter system identification, and various control techniques demonstrate the high potential and safety features of DVSA in pHRI applications. Additionally, an application in human augmentation tasks is presented for further exploration.
Article
Computer Science, Information Systems
Rajkumar Muthusamy, Abdulla Ayyad, Mohamad Halwani, Dewald Swart, Dongming Gan, Lakmal Seneviratne, Yahya Zweiri
Summary: Robotic vision is critical in factory automation and service robot applications. Traditional frame-based cameras have limitations in continuous visual feedback, but neuromorphic event-based vision technology offers human-like vision capabilities with high temporal resolution and low latency. This paper proposes a purely event-based visual servoing method using a neuromorphic camera in an eye-in-hand configuration for robotic grasping.
Article
Engineering, Mechanical
Lei Guo, Zeyu Wang, Yuan Song, Xianjie Shan, Dongming Gan
Summary: A new gear reducer design based on a spherical motion sub-lever drive mechanism is proposed in this study, which can meet the requirements of low speed and heavy load in robotic joints. By optimizing design parameters and simplifying assembly processes, the performance of lever drive mechanism has been significantly improved.
MECHANICAL SCIENCES
(2021)
Proceedings Paper
Automation & Control Systems
Shafiqul Islam, Jorge Dias, Nikolas Xiros
2020 AMERICAN CONTROL CONFERENCE (ACC)
(2020)
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)
