检索结果-内蒙古大学图书馆

SCPR: A Slider-Crank-Inspired 2R1T parallel robot Enables High Orientation Capability Without Parasitic Motion

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年

作者： Wang, Congzhe Zhang, Changqi Ye, Wei Zhang, Mingming Chongqing Univ Posts & Telecommun Dept Adv Mfg Engn Chongqing 400065 Peoples R China SINOPEC Res Inst Petr Engn Co Ltd Beijing 102206 Peoples R China Zhejiang Sci Tech Univ Dept Mech Engn & Automat Hangzhou 310018 Peoples R China Southern Univ Sci & Technol Dept Biomed Engn Shenzhen 518055 Peoples R China

For parallel robots with two rotations and one translation, a great design challenge is to achieve high orientation capability while eliminating undesired parasitic motion. To cope with it, this study proposes and develops a slider-crank-inspired parallel robot. This novel mechanism follows a seven-stage evolutionary process originally from planar slider-crank mechanisms, sticking to three major design principles (symmetrical design, actuation redundancy, and articulated moving platform). Several slider-crank mechanisms with a centric layout are adopted to obtain zero crank angle and are arranged symmetrically and redundantly, which brings a large orientation workspace without singularity and high-quality transmission performance. By using an articulated platform, the adopted centric slider-crank mechanisms share one common rotation center to eliminate parasitic motion. Furthermore, all the kinematic pairs are single-degree-of-freedom joints-except for four active prismatic joints, the remains are revolute joints-that can reduce interference. Theoretical and experimental results lead to several major conclusions: 1) the built robot exhibits an outstanding orientation capability, capable of tilting up to 70 degrees in all directions;2) the articulated moving platform can rotate exclusively about one point, demonstrating zero parasitic motion;and 3) the robot possesses simple forward and decoupled kinematics, partially attributed to the simplicity of slider-crank mechanisms.

关键词： parallel robots Kinematics Limbs Translation Interference Machine tools Mechatronics Magnetic heads Layout Redundancy mechanism design orientation capability parallel robot parasitic motion

来源：评论

学校读者我要写书评

暂无评论

Synthesis and prototyping of a backdrivable parallel robot for metal finishing tasks

引用

robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2025年 93卷

作者： Beaulieu, Pierre-Luc Laliberte, Thierry Foucault, Simon Gosselin, Clement Univ Laval Dept Genie Mecan 1065 Ave Med Quebec City PQ G1V 0A6 Canada

This article presents the synthesis, control and experimental validation of a backdrivable three-degree-of- freedom translational mini robot used to control the interaction between a robot and a machined part during finishing tasks, such as polishing, sanding and deburring without requiring the use of a force/torque sensor. The mini robot acts as an active contact flange, allowing an industrial robot (the macro robot) to adapt to a part using an impedance control algorithm. Firstly, different three-degree-of-freedom parallel robot architectures are compared and the most suitable architecture is selected. Geometrical properties are chosen for the robot and the physical capabilities of the architecture are predicted to ensure that the design criteria are satisfied. An impedance control algorithm is then developed for the mini robot. The macro-mini system is formed by installing the mini robot on a gantry robot. Sanding tests are carried out in order to validate the performance of the system and the mini robot is compared to other contact flanges already available on the market. Finally, a method allowing the determination of the magnitude of the friction forces in the mini robot is presented and a preliminary friction compensation algorithm is developed. As opposed to existing tools, the novel mini robot proposed in this work is based on a compact parallel architecture, which makes it possible to ensure the backdrivability of the system in three directions. An impedance control algorithm can therefore be implemented thereby providing stability even with stiff environments and eliminating the need for a force/torque sensor.

关键词： robotic finishing Backdrivable robot parallel robot Sensorless robot machining Compliance head

来源：评论

学校读者我要写书评

暂无评论

Dynamic modeling and performance analysis of a new friction stir welding parallel robot

引用

MECHANISM AND MACHINE THEORY 2025年 210卷

作者： Mo, Shuai Hu, Yongjun Huang, Taojiang Yao, Bowei Chen, Sujiao Huang, Yurong Nanjiang, Peng Houioh, Haruo Zhang, Wei Guangxi Univ Sch Mech Engn State Key Lab Featured Met Mat & Life Cycle Safety Nanning 530004 Peoples R China Huazhong Univ Sci & Technol State Key Lab Intelligent Mfg Equipment & Technol Wuhan 430074 Peoples R China Liuzhou Saike Technol Dev Co Ltd Liuzhou 545000 Peoples R China Liugong Liuzhou Driveline Co Ltd Liuzhou 545007 Peoples R China Fangsheng Axle Co Ltd Liuzhou 545006 Peoples R China Liuzhou Wuling Automobile Ind Co Ltd Liuzhou 545007 Peoples R China Tokyo Inst Technol Precis & Intelligence Lab Yokohama 2268503 Japan

This paper proposes a hybrid parallel robot for friction stir welding(FSW), and carries out a systematic kinematic analysis and reachable workspace analysis of this parallel robot. A gapcontaining ball-hinge model is introduced to establish the dynamics of the FSW parallel robot by combining the different welding stages of FSW, solving the driving force of each strut chain under a typical trajectory and inversely solving the motion trajectory by forward dynamics. Joint Reflected Inertia (JRI) and Coefficient of Variation of Joint Space Inertia (CVI) are introduced to analyze the dynamics performance of the FSW parallel robot. The results show that when the FSW parallel robot is under a large expansion and contraction amount and a large turning angle, which leads to the deterioration of the inertia and acceleration performance between the robot's struts, resulting in the precision being affected, the FSW should be kept operating under smaller values of the JRI and the CVI, to ensure the efficient and precise execution of the complex tasks.

关键词： parallel robot Friction stir welding Spherical hinge with clearance Dynamic analysis Performance index

来源：评论

学校读者我要写书评

暂无评论

Mechanical Design and Analysis of a Novel Symmetrical 2T1R parallel robot

引用

ELECTRONICS 2025年第8期14卷 1596-1596页

作者： Zou, Qi Zhang, Yiwei Shi, Yuancheng Zhang, Shuo Zhang, Yueyuan Columbus State Univ Robot Engn Columbus GA 31907 USA Shandong Univ Sci & Technol Coll Elect & Informat Engn Qingdao 266590 Peoples R China Hanyang Univ Sch Elect Engn Ansan 15588 South Korea York Univ Lassonde Sch Engn Toronto ON M3J 1P3 Canada Sungkyunkwan Univ Coll Informat & Commun Engn Dept Elect & Comp Engn Suwon 16419 South Korea

The planar parallel robots are widely employed in industrial applications due to simple geometry, few linkage interferences, and a large, reachable workspace. The symmetric geometry can bring significant convenience to parallel robots. The complexity of the mathematic models can be simplified since only one calculation method can be proposed to deal with various kinematic limbs in a parallel manipulator. The symmetric geometry can ease the assembly and maintenance procedures due to the modular design of linkages/joints. A novel 2-translation and 1-rotation (2T1R) parallel robot with symmetric geometry is proposed in this research. There is one closed loop in each kinematic limb, and 18 revolute joints are applied in its planar structure. Both the inverse and direct kinematic models are explored. The first-order relationship between robot inputs and outputs are constructed. Various singularity configurations are obtained based on the Jacobian matrix. The reachable workspace is resolved by the discrete spatial searching methodology, followed by the impacts originating from various linkages. The dexterity analysis of the parallel robot is conducted.

关键词： parallel robot planar robot position analysis performance evaluation

来源：评论

学校读者我要写书评

暂无评论

An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot

引用

MECHANISM AND MACHINE THEORY 2025年 209卷

作者： Vaida, Calin Birlescu, Iosif Gherman, Bogdan Condurache, Daniel Chablat, Damien Pisla, Doina Tech Univ Cluj Napoca Res Ctr Ind Robots Simulat & Testing Memorandumului 28 Cluj Napoca 400114 Romania Gheorghe Asachi Tech Univ Iasi D Mangeron 59 Iasi 700050 Romania Tech Sci Acad Romania B Dul Dacia26 Bucharest 030167 Romania Nantes Univ Ecole Cent Nantes CNRS LS2 NUMR 6004 F-44000 Nantes France

The paper presents a novel modular parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches are studied for the kinematic functions using both classical differentiation and multidual algebra. The algorithms for inverse kinematics for all three studied formalisms are presented for both differentiation and multidual algebra approaches. Furthermore, these algorithms are compared based on numerical stability, execution times and number and type of mathematical functions and operators contained in each algorithm. A statistical analysis shows that there is significant improvement in execution time for the algorithms implemented using multidual algebra, while the numerical stability is appropriate for all algorithms derived based on differentiation and multidual algebra. While the implementation of the kinematic algorithms using multidual algebra shows positive results when benchmarked on a standard PC, further work is required to evaluate the multidual algorithms on hardware/software used for the modular parallel robot command and control.

关键词： Higher-order kinematics Multidual algebra parallel robot

来源：评论

学校读者我要写书评

暂无评论

An Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU parallel robot With Joint Clearances

引用

JOURNAL OF MECHANISMS AND robotICS-TRANSACTIONS OF THE ASME 2025年第1期17卷 011005页

作者： Liu, Xin Qi, Chenkun Lin, Jianfeng Li, Dongjin Gao, Feng Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China

The 6-prismatic-spherical-universal (6-PSU) parallel robot is useful for high-accuracy positioning, where the motors are installed on the robot base and the moving parts of the robot have low inertia. A highly accurate kinematic model of the robot is fundamental for the control. The joint clearances of all limbs often exist and have a significant influence on kinematic model accuracy. In this study, an actuation acceleration information-based kinematic modeling and identification method for a 6-PSU parallel robot with joint clearances is proposed. The direction of the joint clearance is related to the direction of the force acted on the joint, which is determined by the acceleration of the prismatic actuator. The existence of joint clearances is equivalent to the link length change. The joint clearances are identified from the experiments and compensated. Simulations and experiments show that the proposed method is effective and improves the accuracy of the kinematic model.

关键词： parallel robot joint clearance kinematic modeling parameter identification parallel mechanisms and robots theoretical and computational kinematics

来源：评论

学校读者我要写书评

暂无评论

Design Optimization of a parallel robot for Laparoscopic Pancreatic Surgery Using a Genetic Algorithm

引用

APPLIED SCIENCES-BASEL 2025年第8期15卷 4383-4383页

作者： Tucan, Paul Ciocan, Andra Gherman, Bogdan Radu, Corina Vaida, Calin Al Hajjar, Nadim Chablat, Damien Pisla, Doina Tech Univ Cluj Napoca CESTER Dept Cluj Napoca 400114 Romania Iuliu Hatieganu Univ Med & Pharm Dept Surg Cluj Napoca 400347 Romania Iuliu Hatieganu Univ Med & Pharm Dept Internal Med Cluj Napoca 400347 Romania Nantes Univ Ecole Cent Nantes CNRS UMR 6004LS2N F-44000 Nantes France Tech Sci Acad Romania B dul Dacia 26 Bucharest 030167 Romania

Background: Laparoscopic pancreatic surgery demands high precision and minimal invasiveness, yet conventional robotic systems often face challenges due to complex anatomical environments and uncertainties inherent in surgical procedures. Optimizing key design parameters such as the Remote Center of Motion (RCM) and robotic link lengths is critical for enhancing workspace accessibility and instrument maneuverability. Methods: An integrated optimization framework combining genetic algorithms (GA) with fuzzy logic was developed to determine the optimal RCM position and the ideal lengths of crucial robotic links in a 3-DOF parallel robotic system. The GA explored a large design space based on 6951 tracking points recorded during manual instrument manipulation, while the fuzzy logic system refined fitness evaluations by incorporating expert-defined membership functions and heuristic rules to manage uncertainties and ensure robust performance. Results: Simulation studies demonstrated that the optimized RCM position shifted from an initial [100, 0, 300] to [119.003337, -146.610801, 269.07376], yielding improved workspace coverage and enhanced instrument maneuverability. The GA further determined optimal link lengths of approximately 213.5 mm, 248.5 mm, and 48.6 mm for the primary, tertiary, and minimum secondary links, respectively, which were rounded to practical values of 215 mm, 250 mm, and 50 mm. The optimized design exhibited significant improvements in workspace reachability, precision, and operational stability, as validated by detailed 3D workspace plots and time history diagrams of the instrument tip and joint trajectories. Conclusions: The integrated GA-fuzzy optimization approach effectively enhances the design of a 3-DOF parallel robot for laparoscopic pancreatic surgery by achieving superior kinematic performance. The optimized parameters contribute to improved surgical precision and workspace accessibility, indicating strong potential for clinical application

关键词： parallel robot design optimization minimally invasive pancreatic surgery fuzzy logic genetic algorithm

来源：评论

学校读者我要写书评

暂无评论

Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot

引用

MECHANISM AND MACHINE THEORY 2009年第9期44卷 1768-1783页

作者： Chebbi, A. -H. Affi, Z. Romdhane, L. Ecole Natl Ingn Monastir Lab Genie Mecan Monastir Tunisia

This paper deals with the singularity analysis and modeling of the effects of the clearance in the joints on the parallel robot accuracy. This model is presented in an analytical form, which allowed us to predict easily the pose error for a given external load, a nominal pose and the structural parameters of the 3-UPU parallel manipulator. Based on this model, we also developed an algorithm to map the pose error within the workspace of the robot. (C) 2009 Published by Elsevier Ltd.

关键词： Joint clearance Pose error Workspace parallel robot

来源：评论

学校读者我要写书评

暂无评论

Error Modeling and Sensitivity Analysis of a parallel robot with SCARA(Selective Compliance Assembly robot Arm) Motions

引用

Chinese Journal of Mechanical Engineering 2014年第4期27卷 693-702页

作者： CHEN Yuzhen XIE Fugui LIU Xinjun ZHOU Yanhua Department of Mechanical Engineering Tsinghua University Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Institute of Aircraft Engineering Naval Aeronautical and Astronautical University

parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.

关键词： parallel robot selective compliance assembly robot arm(SCARA) motions error modeling sensitivity analysis parallelogram structure

来源：评论

学校读者我要写书评

暂无评论

Distributed-Torque-Based Independent Joint Tracking Control of a Redundantly Actuated parallel robot With Two Higher Kinematic Pairs

引用

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2016年第2期63卷 1062-1070页

作者： Cheng, Chen Xu, Weiliang Shang, Jianzhong Univ Auckland Fac Engn Dept Mech Engn Auckland 1010 New Zealand Natl Univ Def Technol Dept Mech Engn Changsha 410073 Hunan Peoples R China

A redundantly actuated parallel robot of the 6RSS mechanism involving two point-contact higher kinematic pairs (HKPs) has been developed for the evaluation of food texture changes during the process of mastication. To accomplish this, a fundamental capability of reproducing complex mandibular motions of human subjects in a biomimetic manner is required. In this paper, first, the mechanism and experimental setup of the robot are described, followed by five performance criteria proposed for the torque distribution across the robot. Second, the distributed torque is employed as a feedforward to enhance the independent joint control for the tracking of the mandibular movement. The frictional effects are compensated for to further improve the tracking accuracy. Finally, experiments are carried out to evaluate and compare the proposed control algorithms with the robot being commanded to reproduce a real human mandibular motion in free chewing, chewing a silicone gel, and chewing a wooden stick. The results illustrate that the robot is able to emulate complex mandibular motions, the distributed-torque-based joint control significantly enhances the motion tracking accuracy, and the friction compensation can further improve the motion tracking performance.

关键词： Dynamics motion control parallel robot redundant actuation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：