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
Robotics
Pavel Trutman, Mohab Safey El Din, Didier Henrion, Tomas Pajdla
Summary: This study introduces a globally optimal solution to the IK problem for a 7DOF manipulator with revolute joints and a polynomial objective function, demonstrating that kinematic constraints due to rotations can be generated by second-degree polynomials. The method shows a high success rate in practice.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Multidisciplinary
Lu Jiajia, Du Fuxin, Li Yibin, Lei Yanqiang, Zhang Tao, Zhang Gang
Summary: This paper analyzes the inverse kinematics problem of inextensible continuum robots from a new perspective, by replacing the generatrix of the robot's workspace with the Kepler oval. The complicated inverse kinematics problem is simplified into solving the oval equations, leading to the design of an inverse kinematics algorithm. The proposed algorithm demonstrates excellent performance in accuracy and computational efficiency through validation simulations.
APPLIED MATHEMATICAL MODELLING
(2021)
Correction
Robotics
Guanfeng Liu, Guoying Zhang, Yisheng Guan, Yong Yang, Xin Chen
Summary: Corrections have been made to the references in the above-mentioned paper.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Engineering, Multidisciplinary
Fuxin Du, Gang Zhang, Yanjie Xu, Yanqiang Lei, Rui Song, Yibin Li
Summary: This paper proposes an efficient dexterity evaluation algorithm based on inverse kinematics (DEAIK) for continuum robots. The relationship between length distributions and dexterity distribution is obtained through simulation experiments, and the length distribution of a two-segment continuum robot is optimized using the fruit fly algorithm. Theoretical analysis and numerical simulations show that the dexterity of the structure-optimized continuum robot is better than that of the traditional continuum robot. The DEAIK algorithm is 3.68 times faster than the algorithm based on forward kinematics, and the IK algorithm in this paper is 3,203 times faster than the IK algorithm based on the Levenberg-Marquardt algorithm in the same accuracy.
Article
Engineering, Mechanical
Bo Hu, Yan Huo, Junlin Gao, Da Zhang
Summary: This paper presents a CGA-based approach to solve the inverse displacement problem of S-PMs composed of two PMs. By applying geometric operations provided by CGA, the vertex coordinates of the middle platform can be obtained, and the polynomial equation can be easily solved.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Lei Zhang, Guangyao Ouyang, Zhaocai Du
Summary: This study focused on eliminating the coupling effect between joints in a cable-driven hyper-redundant robot through decoupling analysis, obtaining the mapping relationship between driving cables and joint angles, thereby achieving precise control of joint angle changes and workspace trajectories.
MECHANICAL SCIENCES
(2021)
Article
Computer Science, Information Systems
Matheus C. Santos, Lucas Molina, Elyson A. N. Carvalho, Eduardo O. Freire, Jose G. N. Carvalho, Phillipe C. Santos
Summary: This paper explores the inverse kinematics process for manipulator robots using a recent technique called Forward And Backward Reaching Inverse Kinematics (FABRIK). Despite some limitations in chains with 1-DOF joints, a new method named FABRIK-R is introduced to extend the original method for applications in the robotics manipulators field.
Article
Automation & Control Systems
Shantanu Thakar, Rishi K. Malhan, Prahar M. Bhatt, Satyandra K. Gupta
Summary: The study introduces an area-coverage planning algorithm for computing the path of a disinfection nozzle following the surfaces represented by their point clouds. By projecting the point cloud onto a plane and generating a polygon to create multiple spray paths, ensuring full coverage of the entire polygon area. Additionally, by calculating time intervals between robot path waypoints, ensuring thorough disinfection of surfaces within a minimal timeframe.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2022)
Article
Engineering, Mechanical
Jing Zhao, Tong Wu, Ziqiang Zhang, Xiaohui Li, Weihui Liu
Summary: This paper proposes a novel method for generating configurations based on iterative concepts and establishes a tree-evolution kinematic synthesis framework. By researching the performance distribution characteristics of the 'tree' and developing tree-evolution strategies, a serial robot configuration model with hyperparameters is proposed.
MECHANISM AND MACHINE THEORY
(2021)
Article
Robotics
Steffan Lloyd, Rishad A. Irani, Mojtaba Ahmadi
Summary: In this article, a novel numerical inverse kinematics algorithm called QuIK is proposed, which iteratively converges to a solution using first- and second-order derivative information. Compared to existing algorithms, the QuIK algorithm has faster speed and stronger robustness, especially near singularities.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Automation & Control Systems
Daniel Cagigas-Muniz
Summary: The inverse kinematics problem in articulated robots refers to obtaining joint rotation angles using the robot end effector position and orientation tool. This study proposes and analyzes different techniques involving artificial neural networks (ANNs) to solve this problem. The results demonstrate that the proposed original bootstrap sampling and hybrid methods can greatly improve the performance of approaches using only one ANN. While these improvements do not completely solve the inverse kinematics problem in articulated robots, they lay the foundations for designing and developing more effective and efficient controllers.
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE
(2023)
Article
Engineering, Mechanical
Bo Hu, Tian Gao, Jinjun Zhao, Zhiyong Liu
Summary: This paper investigates the inverse kinematics problem of lower mobility serial mechanisms. By establishing pose coupling equations, the feasible pose of the end-effector is determined, and an improved inverse kinematic modeling process is proposed. The applicability of the proposed inverse kinematics producer is demonstrated.
MECHANISM AND MACHINE THEORY
(2022)
Article
Mechanics
Liyuan Liu, Hao Lv, Weitao Li, Yuming Gao, Mingwang Gao, Zonggao Mu
Summary: This paper presents the design of a rigid-flexible serial robot with rigid mechanism and flexible mechanism, along with a modified backbone curve method for its inverse kinematics. The overall configurations of the robot are planned by adjusting the shapes of the backbone curve. The effectiveness of the modified method is verified through simulations.
MECHANICS OF SOLIDS
(2023)
Article
Automation & Control Systems
He Xie, Wenlong Li, Hui Liu
Summary: This article proposes a general method for geometry calibration using an arbitrary free-form surface. By incorporating a shape matching algorithm, each measured point on the surface is regarded as a feature point to compare with the design model, resulting in accurate calibration parameters. The method compensates for geometry and matching errors iteratively to improve calibration accuracy. It offers the advantages of versatility for various surface shapes, no requirements on the number of feature points, and convenient robot pose control.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Engineering, Marine
Yueyue Wang, Yanhui Wei, Weihang Gao, Tianyu Ma, Yuntao Han
Summary: In this paper, a multi-task motion planning (MTMP) method is proposed to address the joint motion planning problem of a nine-DOF redundant hybrid boarding system in ocean wave active compensation. The hybrid mechanism is divided into a six-DOF parallel mechanism and a three-DOF serial mechanism for kinematic analysis, and the Jacobian matrix in the task space is obtained. Several secondary tasks are introduced to constrain the motion planning of the hybrid mechanism based on its configuration characteristics. Simulations and comparisons demonstrate that the MTMP method effectively solves the limitations and issues in joint motion planning.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Proceedings Paper
Engineering, Mechanical
Cheng Yin, Shengqi Jian, Md. Hassan Faghih, Md. Toufiqul Islam, Luc Rolland
ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2014, VOL 4B
(2015)
Proceedings Paper
Automation & Control Systems
Shengqi Jian, Cheng Yin, Luc Rolland, Lesley James
PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2014, VOL 4A
(2015)
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)
