Article
Mathematics
Shenghao Zhou, Houkun Gao, Chunyang Xu, Zhichao Jia, Junzhe Lin, Qingkai Han, Zhong Luo
Summary: This study establishes the kinematic model of a 3-DOF parallel manipulator with a centering device, deriving Jacobian and Hessian matrices using screw theory and establishing velocity and acceleration models. Through simulation verification and quantitative analysis, the study reveals the variations of translational and rotational stiffness with the positional posture of the parallel manipulator.
Article
Engineering, Mechanical
Yuchuang Tong, Jinguo Liu, Yuwang Liu, Yuan Yuan
Summary: This study presents an analytical inverse kinematic method for rail-type redundant sliding manipulators, addressing the complexity of inverse kinematics computations. The method is universal and can solve real-time motion planning and control issues for various types of redundant sliding manipulators.
MECHANISM AND MACHINE THEORY
(2021)
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
Engineering, Electrical & Electronic
Pavel Laryushkin, Anton Antonov, Alexey Fomin, Terence Essomba
Summary: This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The study discusses the manipulator design and the results of the position analysis, and then performs velocity and singularity analysis using screw theory. The article also investigates singular configurations and presents conditions for serial and parallel singularities.
Article
Engineering, Electrical & Electronic
Zhiyuan He, Yimin Song, Binbin Lian, Tao Sun
Summary: Parallel manipulators have more kinematic errors than serial mechanisms. A finite and instantaneous screw-based kinematic calibration method is proposed to improve the accuracy of parallel manipulators. This method reduces the number of measurements required for calibration and increases the efficiency and accuracy of the calibration process.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Mechanics
Fabian A. Lara-Molina, Didier Dumur
Summary: This paper presents a novel robust optimal design for parallel manipulators to optimize performance indices while considering the effects of uncertainties. The proposed robust optimization includes a multi-objective approach and adjustment of design variables to minimize uncertainty effects and maximize performance indices. The benefits of this approach are illustrated through numerical results on the optimal kinematic design of a parallel Cartesian manipulator and the optimal dynamic design of a Stewart-Gough platform.
Article
Engineering, Mechanical
Hanqing Shi, Jinzhu Zhang, Tao Wang, Ran Li, Qingxue Huang
Summary: This paper discusses the importance of biological inspiration in mechanism design and introduces the concept of the inspire-mapping-synthesis design process. By mapping the local musculoskeletal system of organisms to mechanism configurations, a new type of mechanism called parallel driving mechanism (PDM) is proposed. A bionic 5-DOF PDM inspired by manual two-arm operation is synthesized. This work provides new ideas for innovative mechanism design.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Mechanical
Guangbo Hao, Haiyang Li, Yu-Hao Chang, Chien-Sheng Liu
Summary: This paper focuses on the design of a four-degree-of-freedom compliant parallel manipulator to meet the requirements of FSM. Using a constraint map method, four required DoF are proposed and their kinematics are analytically estimated. A normalization-based compliance matrix is derived to validate the mobility of the system.
Article
Engineering, Multidisciplinary
Qiaohong Chen, Chao Yang
Summary: A hybrid algorithm combining Gaussian process regression and particle swarm optimization was proposed for multi-objective optimization design, achieving high efficiency and low computational cost by considering global performance indices as objective functions. The Gaussian process regression model showed higher accuracy and robustness compared to other mapping models. The proposed hybrid algorithm significantly reduced computational cost by 99.84% compared to using the particle swarm optimization algorithm, and improved the performance indices of the parallel manipulator.
APPLIED MATHEMATICAL MODELLING
(2021)
Article
Engineering, Mechanical
Haiyu Wu, Lingyu Kong, Qinchuan Li, Hao Wang, Genliang Chen
Summary: This paper presents a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models. The study investigates the relative merits of different error modeling methods, including the inverse-kinematic error model, the geometric-constraint error model, and the complete-minimal error model. The simulations and experiments indicate that the complete-minimal error model exhibits the lowest residual values and can approach the measurements by nearly 90%. These findings provide instructive insights into the model process, complexity, and limitations for other parallel manipulators.
CHINESE JOURNAL OF MECHANICAL ENGINEERING
(2023)
Article
Engineering, Mechanical
Hui Yang, Hairong Fang, Yuefa Fang, Xiangyun Li
Summary: A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced to enhance the perfusion efficiency. The study focuses on the dimensional synthesis process and the impact of optimized parameters on device performance.
FRONTIERS OF MECHANICAL ENGINEERING
(2021)
Article
Computer Science, Information Systems
Nijia Ye, Bo Hu
Summary: A novel 3-DOF parallel manipulator with the RPU+UPU+SPU architecture is proposed, and its kinematics and stiffness are systematically studied. The models derived in this study are verified through simulations, providing new ideas for the design of PM machine tools.
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
Hui Peng, Meiping Wu, Huimin Lu, Junzheng Wang, Junhao Xiao, Yuan Huang, Dawei Shi
Summary: This article proposes a coordinated attitude control strategy for parallel electrical manipulators, which combines the distributed active disturbance rejection control (ADRC) framework with a consensus algorithm. The strategy solves the uncoordinated problem of electric actuators, compensates for disturbances, and achieves stable tracking performance.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Business, Finance
Jacob H. H. Hansen, Mathias V. V. Siggaard
Summary: We demonstrate the benefits of merging traditional hypothesis-driven research with new methods from machine learning for high-dimensional inference. Using the post-earnings announcement drift (PEAD) literature as an example, we highlight the challenges of high-dimensional analysis due to multiple explanations, limited consensus on model design, and reliance on massive data. By identifying a small set of variables associated with momentum, liquidity, and limited arbitrage, we provide a consistent explanation for PEAD and propose a broadly applicable framework in finance.
JOURNAL OF FINANCIAL AND QUANTITATIVE ANALYSIS
(2023)
Article
Computer Science, Interdisciplinary Applications
Sun Tao, Chen Yuanlong, Han Tianyu, Jiao Chenlei, Lian Binbin, Song Yimin
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2020)
Article
Robotics
Tao Sun, Binbin Lian, Shuofei Yang, Yimin Song
IEEE TRANSACTIONS ON ROBOTICS
(2020)
Article
Automation & Control Systems
Tao Sun, Chaoyu Liu, Binbin Lian, Panfeng Wang, Yimin Song
Summary: A robot calibration method using finite and instantaneous screw theory is proposed in this article, defining errors explicitly, introducing an advanced optimization algorithm for identification, and compensating errors by modifying inputs.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Critical Care Medicine
Monan Ni, Tao Sun, Tao Zhang, Jiahao Jin, Yimin Song
Summary: This study aimed to develop a universal method of quantifying early passive rehabilitation training after ankle fracture surgery using finite element analysis. Results provided the range of rehabilitation training for different types of ankle fractures.
INJURY-INTERNATIONAL JOURNAL OF THE CARE OF THE INJURED
(2022)
Article
Engineering, Electrical & Electronic
Zhiyuan He, Yimin Song, Binbin Lian, Tao Sun
Summary: Parallel manipulators have more kinematic errors than serial mechanisms. A finite and instantaneous screw-based kinematic calibration method is proposed to improve the accuracy of parallel manipulators. This method reduces the number of measurements required for calibration and increases the efficiency and accuracy of the calibration process.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Computer Science, Interdisciplinary Applications
Jintao Ma, Binbin Lian, Meng Wang, Gang Dong, Qi Li, Jin Wu, Yong Yang
Summary: A six degree-of-freedom (DoF) parallel robot is proposed and designed for assembling tasks in confined spaces such as aircraft or train cabins. The robot achieves a high load-to-mass ratio through topology optimization and multi-objective optimization. The optimal design is obtained by establishing meta models and using the Pareto-based optimization method.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2023)
Article
Robotics
Qi Yang, Ze Yu, Xinyu Liu, Binbin Lian, Tao Sun
Summary: This letter presents a small-scale untethered tensegrity robot with high velocity and multi-locomotion modes. A clustered tensegrity structure and modular concept are adopted to design the robot, enabling it to achieve high velocity multi-locomotion within a small scale and light weight.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Electrical & Electronic
Sida Liu, Yimin Song, Binbin Lian, Tao Sun
Summary: This paper proposes a pose recognition method based on novel image markers and establishes layout principles and error compensation strategies for achieving the desired recognition accuracy.
Article
Robotics
Chenlei Jiao, Binbin Lian, Zhe Wang, Yimin Song, Tao Sun
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
(2020)
Article
Computer Science, Information Systems
Zhiyuan He, Binbin Lian, Qi Li, Yue Zhang, Yimin Song, Yong Yang, Tao Sun