Article
Chemistry, Multidisciplinary
Jing-Shan Zhao, Xiao-Cheng Sun, Song-Tao Wei
Summary: This paper presents an algorithm for kinematics and statics analysis of a Gough-Stewart platform. By defining velocity and force screws, the unified modeling of kinematics and statics is achieved. The algorithm is validated and can be applied to other complex multi-rigid-body systems.
APPLIED SCIENCES-BASEL
(2023)
Article
Robotics
Mark Draelos
Summary: This paper introduces a closed-form time-optimal time scaling method for constant linear velocity (CLV) spirals with large path velocities, which mitigates the singularity by inspecting the CLV spiral's acceleration envelope. When applied to a two degree-of-freedom Cartesian scanner, it reduces trajectory tracking error by up to 97.1% compared to naive CLV spirals with low computational overhead. The study also shows that this time scaling eliminates the central image distortion near the singularity for scanning applications relying on CLV spirals.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Automation & Control Systems
Sourabh Karmakar, Cameron J. Turner
Summary: This paper proposes a method for generating feasible and unique forward-kinematic solutions for a general Stewart platform. Inverse kinematics is used to obtain valid workspace data and actuator lengths, providing a single solution for each valid pose. The method employs a simple iterative algorithm based on modified Denavit-Hartenberg convention. This capability is crucial for the authors' developed six degree of freedom materials testing system, which aims to characterize additively manufactured materials under complex loading conditions.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(2023)
Article
Engineering, Mechanical
Isiah Zaplana, Hugo Hadfield, Joan Lasenby
Summary: This study presents a compact, elegant and intuitive solution for the inverse kinematics problem of manipulators with a spherical wrist based on conformal geometric algebra. The inverse kinematics problem is divided into position and orientation subproblems, which are solved using geometric strategies and rotor decomposition methods.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Electrical & Electronic
Luca Bruzzone, Alessio Polloni
Summary: This paper proposes a fractional-order impedance control scheme that adds a half-order derivative damping term to the classical impedance control. It also introduces a compensation method to address the modification of steady-state stiffness caused by the implementation of half-order derivatives. The effectiveness of this approach is validated through multibody simulation and it is shown to outperform the PD scheme in transient behavior.
Article
Chemistry, Analytical
Fangfang Yang, Xiaojun Tan, Zhe Wang, Zhenfeng Lu, Tao He
Summary: This paper presents a geometric approach for real-time forward kinematics of the general Stewart platform, which demonstrates the convergence ability and robustness of the proposed algorithm in solving passive joint displacements.
Article
Automation & Control Systems
Raghav P. Rajaram, G. Aravind, Gokul S. Narasimhan, Anjan K. Dash
Summary: This paper proposes a new method to determine the shape of the workspace of a Gough-Stewart platform at zero orientation. By constructing a look-up table and determining closed-form mathematical expressions, it helps designers determine the optimal parameters for the platform.
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
(2022)
Article
Engineering, Mechanical
Seongbo Shim, Seongpung Lee, Subin Joo, Joonho Seo
Summary: This paper presents a new approach for the forward kinematics of the 3-6 Stewart platform. The proposed method, based on Denavit-Hartenberg notation, allows for a representation with only four parameters, making the computation process more concise.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2022)
Article
Multidisciplinary Sciences
Saba Irum, Imran Naeem
Summary: This paper demonstrates the application of the approximate Hamiltonian approach for non-conservative systems without Hamiltonian. It proposes a method to obtain closed-form solutions for these systems. By using the approximate dual Hamiltonian method, the paper constructs the first integrals and closed-form solutions for the Van der Pol equation. The results are validated through numerical comparisons. Additionally, the approximate dual Hamiltonian method is applied to determine the dual Hamiltonian and first integrals for the forced Van der Pol oscillator and Lienard system.
SCIENTIFIC REPORTS
(2022)
Article
Engineering, Electrical & Electronic
Ang Li, Christos Masouros, Branka Vucetic, Yonghui Li, A. Lee Swindlehurst
Summary: The study focuses on closed-form interference-exploitation precoding for multi-level modulations in the downlink of multi-user multiple-input single-output systems. Optimal precoding structures are derived for cases where the number of served users is equal to or larger than the number of transmit antennas at the base station. Iterative algorithms are proposed to obtain the optimal precoding matrix in both scenarios.
IEEE TRANSACTIONS ON COMMUNICATIONS
(2021)
Article
Engineering, Mechanical
Takeyuki Ono, Ryosuke Eto, Junya Yamakawa, Hidenori Murakami
Summary: The paper presents kinematics and control application for a Stewart platform installed on a moving ship or vehicle, using directed graphs, orthogonal coordinate systems, and matrix computations. It emphasizes on controlling actuated translational joints to mitigate base plate motion, and employs Lie groups like SO(3) and SE(3) for effective mathematical expressions and solutions, including loop closure constraints and inverse kinematics. Additionally, experimental results for inverse kinematics control on a scale model of a base-moving Stewart platform are provided.
NONLINEAR DYNAMICS
(2022)
Article
Chemistry, Multidisciplinary
Zihao Yin, Rongjie Qin, Yinnian Liu
Summary: This paper presents a forward kinematic algorithm based on simulated annealing and particle swarm optimization to improve the accuracy and success rate of six-degree-of-freedom positioning and sensing in the Stewart-Gough platform. The experimental results demonstrate that the proposed algorithm achieves a higher success rate and lower time consumption.
APPLIED SCIENCES-BASEL
(2022)
Article
Mathematics
Alvaro H. Salas, Ma'mon Abu Hammad, Badriah M. Alotaibi, Lamiaa S. El-Sherif, Samir A. El-Tantawy
Summary: This investigation presents analytical solutions for both conserved and non-conserved rotational pendulum systems, including exact and approximate solutions for the conserved oscillator, as well as analytical approximations for non-conserved oscillators. The comparison between exact and approximate solutions highlights the significance of these results for discussing and interpreting further research.
Article
Mathematics
Binhai Xie, Shuling Dai, Feng Liu
Summary: The study focused on the forward kinematics of the Gough-Stewart platform, approaching it as an unconstrained optimization problem on the Lie group-structured manifold SE(3) and creating two iterative problem-solving algorithms. Experiment results indicate that algorithms on SE(3) perform better in convergence, especially with initial guess selection near branch solutions.
Article
Mechanics
Jun-Sik Kim
Summary: In this paper, asymptotic closed-form solutions with boundary-layers are obtained by applying the method of multiple-scales and the virtual work principle. The approach separates the problem into interior and boundary-layer problems, providing a reliable prediction for the boundary-layers of orthotropic beams.
EUROPEAN JOURNAL OF MECHANICS A-SOLIDS
(2022)
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)