Article
Engineering, Aerospace
Yi Lu, Zefeng Chang, Nijia Ye
Summary: A prototype of a 2SPS+UPU+SP type parallel rotor of helicopter has been developed with established kinematics and dynamics models. The study explains the structural principle and advanced performance, calculates the degree of freedom, derives kinematics formulas to solve displacement and velocity, establishes a dynamics model based on these formulas, and verifies theoretical solutions through simulation.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Engineering, Mechanical
Omar Martinez, Israel Soto, Ricardo Campa
Summary: This document focuses on the analysis of pose and velocity kinematics, as well as dynamics, for a parallel mechanism with three degrees of freedom called 3-CUP. By using a novel approach, the kinematic analysis and dynamic equations of motion are obtained, and the results are validated through simulations and comparison with commercial software models.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Aerospace
Yi Lu, Zefeng Chang, Yang Lu, Ling Ding, Nijia Ye
Summary: A novel parallel coaxial twin rotor (PCTR) of the helicopter is designed by combining a parallel mechanism and a coaxial twin rotor to simplify the conventional coaxial rotor, improve its dynamic performances, reduce the weight, and increase the safety of the helicopter.
AEROSPACE SCIENCE AND TECHNOLOGY
(2022)
Article
Chemistry, Analytical
Jun Ren, Qiliang Li, Hanhai Wu, Qiuyu Cao
Summary: This paper proposes two optimal design schemes for improving the kinematic and dynamic performance of the 3-PSS flexible parallel micromanipulator according to different application requirements and conditions. Both optimization methods effectively satisfy the requirements of workspace, dexterity, frequencies, and driving forces.
Article
Engineering, Mechanical
Goran R. Petrovic, Jouni Mattila
Summary: This paper proposes a new modelling approach for a heavy-duty manipulator with parallel-serial structures. The expressions for actuator forces are derived and the actuator pressure dynamics are considered. A control law based on the new model is formulated in the virtual decomposition control process.
MECHANISM AND MACHINE THEORY
(2022)
Article
Chemistry, Multidisciplinary
Vlad Totu, Catalin Alexandru
Summary: The present work aimed to design, optimize, and test an innovative suspension system for race cars using a comprehensive approach including conceptual design, modeling, simulation, optimization, and development. The optimization process involved multi-objective optimal design techniques, design of experiments investigation strategies, and regression models. Both virtual design and experimental testing showed the performance of the proposed suspension system and the usefulness of the design algorithm.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Mechanical
Guoxing Zhang, Jinwei Guo, Yulei Hou, Daxing Zeng
Summary: The research proposes the PU-2UPS parallel mechanism as the antenna pedestal, analyzes its mobility using screw theory, conducts kinematic analysis, and establishes a dynamic model. The study concludes that the PU-2UPS parallel mechanism is suitable for antenna pedestal, providing a theoretical basis for design and analysis.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
(2021)
Article
Computer Science, Interdisciplinary Applications
Jorge Barrientos-Diez, Xin Dong, Dragos Axinte, James Kell
Summary: This paper introduces a kinematic modeling for flexible backbone continuum robots to simplify computational requirements and achieve faster algorithms. The method is successfully applied to Twin Pivot Compliant Joint continuum robots and extended to a general single neutral axis backbone configuration, with high accuracy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
Article
Engineering, Mechanical
Jinhao Duan, Zhufeng Shao, Zhaokun Zhang, Fazhong Peng
Summary: Compared with serial robots, cable-driven parallel robots (CDPRs) have the advantages of high stiffness and good dynamics. This article introduces a high-speed CDPR called TBot, which is tensioned by passive rods and springs. The characteristics and key issues of CDPRs are analyzed through a comparison between TBot and Delta robots. The energy consumption and trajectory planning of TBot are also discussed.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2022)
Article
Engineering, Aerospace
Fei Liu, Chuandong Guo, Quan Hu, Xiaohui Li, Weihui Liu, Wen Wen, Lei Liu, Jingchao Zhao
Summary: The space parallel robot with Bricard mechanism (SPRBM) is a complex mechanical device used for capturing free-floating space debris. It consists of a 3-RRS parallel mechanism and a Bricard mechanism. The SPRBM can capture a target with any shape and motion state if it can be enwrapped by the mechanism, without strict requirements on the locations of the capture points on the debris. This paper presents a detailed kinematics analysis of the SPRBM, providing fundamentals for modeling and controlling it.
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
Mechanics
Xingchao Zhang, Hongbo Wang, Yu Rong, Jianye Niu, Junjie Tian, Shanshan Li
Summary: This paper systematically establishes a complete dynamic model of a class of P-SMs by the principle of virtual work. The position of the P-SMs is analyzed using the Euler method and the Denavit-Hartenberg method, and the velocity and acceleration equations of each rod are derived using the vector chain method. The parallel mechanisms and the serial mechanisms are then considered as a whole to establish the complete dynamic model of the P-SMs.
Article
Metallurgy & Metallurgical Engineering
Yu-lei Hou, Yun-jiao Deng, Da-xing Zeng
Summary: This study established the dynamic model of a parallel mechanism with spherical joint clearance and investigated the dynamic response of the mechanism under wear and spherical joint clearance conditions. It was found that irregular wear can decrease the movement stability of the mechanism.
JOURNAL OF CENTRAL SOUTH UNIVERSITY
(2021)
Article
Engineering, Mechanical
Xingchao Zhang, Hongbo Wang, Yu Rong, Jianye Niu, Junjie Tian, Shanshan Li, Yuansheng Ning
Summary: This paper proposes an improved kinematics model to accurately reflect the angular velocity and angular acceleration of parallel manipulators, and derives an inverse dynamic model of the general parallel manipulator based on the improved kinematics model. It is proven that the classical kinematics model has the shortcoming of accurately describing the movement of multiple types of branches in a parallel manipulator. By combining the principle of angular velocity superposition and vector chain method, improved kinematic models of several typical limbs of the general parallel manipulator are derived. Then, an explicit inverse dynamic model of a general parallel robot is established based on the principle of virtual work. Finally, the improved models are compared with the classical models through the analysis of a new type of UP+SPR+SPU parallel manipulator, showing higher accuracy.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
(2023)
Article
Engineering, Mechanical
Yi Yang, Lei Tang, Huayong Zheng, Yang Zhou, Yan Peng, Shengnan Lyu
Summary: This paper investigates the kinematic stability of a 2-degree-of-freedom deployable translational parallel manipulator with dual scissor-like mechanisms and proposes a method for improving stability, which is validated through experiments. The prototype is collapsible for storage and versatile for various operations, being applied on an UAV for test flight.
MECHANISM AND MACHINE THEORY
(2021)
Article
Automation & Control Systems
Runwei Guan, Shanliang Yao, Lulu Liu, Xiaohui Zhu, Ka Lok Man, Yong Yue, Jeremy Smith, Eng Gee, Yutao Yue
Summary: With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant. Traditional RGB cameras cannot work effectively in adverse weather and at night, which has led to the emergence of 4D millimeter-wave radar as a new perception sensor. However, the radar suffers from water-surface clutter and irregular shape of point cloud. To address these issues, this paper proposes a high-performance panoptic perception model called Mask-VRDet, which fuses features of vision and radar using graph neural network.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Adrien Le Reun, Kevin Subrin, Anthony Dubois, Sebastien Garnier
Summary: This study aims to evaluate the quality and health of aerospace parts using a high-dimensional robotic cell. By utilizing X-ray Computed Tomography devices, the interior of the parts can be reconstructed and anomalies can be detected. A methodology is proposed to assess both the raw process capability and the improved process capability, with three strategies developed to improve the robot behavior model and calibration.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Weiming Ba, Jung-Che Chang, Jing Liu, Xi Wang, Xin Dong, Dragos Axinte
Summary: This paper proposes a hybrid scheme for kinematic control of continuum robots, which avoids errors through tension supervision and accurate piecewise linear approximation. The effectiveness of the controller is verified on different continuum robotic systems.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Gabriele Abbate, Alessandro Giusti, Viktor Schmuck, Oya Celiktutan, Antonio Paolillo
Summary: In this study, a learning-based approach is proposed to predict the probability of human users interacting with a robot before the interaction begins. By considering the pose and motion of the user, the approach labels the robot's encounters with humans in a self-supervised manner. The method is validated and deployed in various scenarios, achieving high accuracy in predicting user intentions to interact with the robot.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Tiago Cortinhal, Eren Erdal Aksoy
Summary: This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation between LiDAR and camera sensors. The model is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments, and it has practical applications in fields like autonomous vehicles.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Marios Krestenitis, Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Konstantinos Ioannidis, Elias B. Kosmatopoulos, Stefanos Vrochidis
Summary: This paper addresses the issue of informative path planning for a UAV used in precision agriculture. By using a non-uniform scanning approach, the time spent in areas with minimal value is reduced, while maintaining high precision in information-dense regions. A novel active sensing and deep learning-based coverage path planning approach is proposed, which adjusts the UAV's speed based on the quantity and confidence level of identified plant classes.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shota Kokubu, Pablo E. Tortos Vinocour, Wenwei Yu
Summary: In this study, a new modular soft actuator was proposed to improve the support performance of soft rehabilitation gloves (SRGs). Objective evaluations and clinical tests were conducted to demonstrate the effectiveness and functionality of the proposed actuator and SRG.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Jinliang Zhu, Yuanxi Sun, Jie Xiong, Yiyang Liu, Jia Zheng, Long Bai
Summary: This paper proposes an active prosthetic knee joint with a variable stiffness parallel elastic actuation mechanism. Numerical verifications and practical experiments demonstrate that the mechanism can reduce torque and power, thus reducing energy consumption and improving the endurance of the prosthetic knee joint.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Yong You, Jingtao Wu, Yunlong Meng, Dongye Sun, Datong Qin
Summary: A new power-cycling variable transmission (PCVT) is proposed and applied to construction vehicles to improve transmission efficiency. A shift correction strategy is developed based on identifying the changes in construction vehicles' mass and gradient. Simulation results show that the proposed method can correct shift points, improve operation efficiency, and ensure a safer operation process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shaorui Liu, Wei Tian, Jianxin Shen, Bo Li, Pengcheng Li
Summary: This paper proposes a two-objective optimization technique for multi-robot systems, addressing the issue of balancing productivity and machining performance in high-quality machining tasks.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pengchao Ding, Faben Zhu, Hongbiao Zhu, Gongcheng Wang, Hua Bai, Han Wang, Dongmei Wu, Zhijiang Du, Weidong Wang
Summary: We propose an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme includes stair localization, structural parameter estimation, and optimization of the approaching process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pedro Azevedo, Vitor Santos
Summary: Accurate detection and tracking of vulnerable road users and traffic objects are vital tasks for autonomous driving and driving assistance systems. This paper proposes a solution for object detection and tracking in an autonomous driving scenario, comparing different object detectors and exploring the deployment on edge devices. The effectiveness of DeepStream technology and different object trackers is assessed using the KITTI tracking dataset.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Summary: Powered exoskeletons can significantly reduce physical workload and have great potential impact on future labor practices. To truly assist users in achieving task goals, a shared autonomy control framework is proposed to separate the control objectives of the human and exoskeleton. Positive Power control is introduced for the human-based controller, while 'acceptance' is used as a measure of matching the exoskeleton's control objective to the human's. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. The results verify the effectiveness of the control framework and its potential for improving cooperative control for powered exoskeletons.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)