Article
Robotics
Sebastien Briot, Jean-Pierre Merlet
Summary: This article investigates the stability of sagging cable-driven parallel robots and demonstrates that the Irvine model is inadequate for stability assessment. By analyzing the functional of robot potential energy, it is proven that the static configurations of sagging CDPRs are local extrema. To evaluate stability, two conditions - the Legendre-Clebsch and Jacobi conditions - well-known in optimal control theory, must be checked. The article also establishes a connection between singularities of CDPRs and stability limits and shows that singularities of the platform wrench system do not correspond to singularities of the geometric model, contrary to rigid-link parallel robotics. Stability predictions are validated through simulation and cross-validation using a reduced Hessian matrix of potential energy.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Mechanics
Alexey Fomin, Anton Antonov
Summary: Parallel mechanisms are complex mechanical systems with important properties such as high load capacity and high reliability. Reconfigurable parallel mechanisms have the ability to vary their motion pattern and avoid singular configurations. This study presents a novel reconfigurable parallel mechanism and solves both forward and inverse problems as well as performs singularity analysis.
EUROPEAN JOURNAL OF MECHANICS A-SOLIDS
(2022)
Article
Engineering, Mechanical
Kee-Bong Choi, Jaejong Lee, Geehong Kim, Hyungjun Lim, Soongeun Kwon
Summary: This paper presents a goniometer-type specimen stage with a linear actuation mechanism modeled as a spatial parallel manipulator, consisting of three linear actuators arranged perpendicular to each other and an anti-rotation mechanism. The redundant one degree-of-freedom motion of the manipulator without the anti-rotation mechanism is restrained using three rotation joints and two prismatic joints. The inverse and direct kinematics of the goniometer mechanism were derived and verified, and the global performance indices for designing the goniometer-type specimen stage were analyzed.
Article
Engineering, Mechanical
Chaoyu Shen, Haibo Qu, Sheng Guo, Xiao Li
Summary: This paper analyzes the kinematic redundancy of a parallel mechanism and its influence on the mechanism's performance. The results show that kinematic redundancy can improve the fault-tolerant performance and overall performance of the mechanism. By changing the position of the redundant part, the workspace and singularity of the mechanism can be altered.
CHINESE JOURNAL OF MECHANICAL ENGINEERING
(2022)
Article
Chemistry, Multidisciplinary
Yesong Wang, Changhuai Lyu, Jiang Liu
Summary: This paper introduces a new 5-DOF parallel mechanism that theoretically meets the requirements of five dimensions of freedom. By using Grassmann line geometry method, the instability issue at certain positions is analyzed and solved. Through improvements and kinematics analysis, the workspace and performance of the mechanism are further explored and verified.
APPLIED SCIENCES-BASEL
(2021)
Article
Chemistry, Multidisciplinary
Markus Schmitz, Jan Wiartalla, Markus Gelfgren, Samuel Mann, Burkhard Corves, Mathias Huesing
Summary: This paper presents a novel path planning approach that directly considers robot kinematics and ensures the reachability of all critical path poses, while smoothing the planned path segments to respect joint velocity limits. The implemented path planner generates executable robot paths and maintains process quality, demonstrating sufficient coverage of the slice area. The introduced method enables the generation of reachable printing paths and the smoothing algorithm improves slice coverage while respecting the robot's velocity limits.
APPLIED SCIENCES-BASEL
(2021)
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
Chemistry, Multidisciplinary
Guangsheng Song, Zhihui Qian, Xiangyu Liu, Boya Chen, Guanghui Li, Zhenguo Wang, Kunyang Wang, Zhenmin Zou, Fabio Galbusera, Marco Domingos, Lei Ren, Hans-Joachim Wilke, Luquan Ren
Summary: Degenerative disc disease (DDD) is a global public health issue that affects patient health and quality of life. Artificial total disc replacement (A-TDR) is an effective method for treating symptomatic DDD, but current devices lack the ability to replicate the multidirectional stiffness of natural intervertebral discs (IVDs). This study develops a bioinspired intervertebral disc (BIVD-L) that reproduces the multidirectional stiffness needed for physiological kinematic behaviors, providing new insights for the design of A-TDR devices.
ADVANCED FUNCTIONAL MATERIALS
(2023)
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
Materials Science, Multidisciplinary
Carl G. Schirmeister, Timo Hees, Oleksandr Dolynchuk, Erik H. Licht, Thomas Thurn-Albrecht, Rolf Muelhaupt
Summary: The study explores the production of high-performance all-PE composites through fused filament fabrication technology, revealing that controlling internal nanostructures and printing parameters can significantly enhance the material's mechanical properties. This technology has the potential to advance the development of self-reinforced materials and provide new insights into the design and manufacture of all-PE composites.
ACS APPLIED POLYMER MATERIALS
(2021)
Article
Engineering, Marine
Yongli Hu, Qing Qian, Lijie Li, Xiong Hu, Guowei Li, Xiao Mei
Summary: This paper introduces a novel wave compensation resting bed and presents a tailored kinematic analysis method for marine environments. The feasibility of the shipboard bed design is explored through inverse and forward kinematics analysis, and the bed's motion in unpredictable sea conditions is investigated using wave and vessel models.
Article
Robotics
Georg Boettcher, Sven Lilge, Jessica Burgner-Kahrs
Summary: A novel spatial parallel continuum robot composed of three tendon-actuated continuum robots coupled at a common end-effector platform by spherical joints is proposed. The robot utilizes a modular design approach to allow reconfiguration for specific constraints and environments. Experimental results show improved repeatability in position and orientation for the parallel continuum robot, with increases of 67% and 167% compared to individual continuum segments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Review
Biotechnology & Applied Microbiology
Jeonghoon Lee, Sangmin Park, Jaehoon Lee, Namjung Kim, Min Ku Kim
Summary: This paper provides a comprehensive overview of the latest technologies in noninvasive kinematic biosensors fabricated using additive manufacturing techniques. It discusses the detailed development process and specifics of different types of sensors, and categorizes their applications based on sensing frequencies. The paper also outlines the challenges faced by the field and provides an overview of future applications.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2023)
Article
Engineering, Mechanical
Ramin Ghaedrahmati, Clement Gosselin
Summary: This paper introduces a novel overconstrained 2-DOF parallel wrist mechanism with a large singularity-free range of motion. The inverse and forward kinematic models of the mechanism are derived and their correctness is verified. A contact interference analysis is performed and compared with other mechanisms.
MECHANISM AND MACHINE THEORY
(2022)
Article
Chemistry, Analytical
Xiaohua Shi, Yu Guo, Xuechan Chen, Ziming Chen, Zhiwei Yang
Summary: A new method for kinematic and singularity analysis of a 7-DOF redundant manipulator with three consecutive parallel axes is proposed. The method separates position and orientation to simplify inverse kinematics analysis and effectively avoid static singularities.
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)