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Novel Design of Wrist With Gripper: Type Synthesis of a 2R1T parallel Mechanism Possessing One Actuation Degree-of-Freedom

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Journal of Mechanical Design 2025年第7期147卷 073301页

作者： Zhang, Jingyao Yao, Jiantao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University No. 438 West Section of Hebei Street Hebei Province Qinhuangdao City066004 China

The parallel mechanism (PM) with a configurable movable platform (CMP) holds the potential for achieving a high-response speed and high-stiffness integrated design of a gripper-wrist system. The motion of two rotations and one translation (2R1T), closely resembling the movement of a human wrist joint, is highly complex. Therefore, research on 2R1T PM with CMP remains unexplored. Additionally, a systematic method for constructing PM with CMP is also lacking. This paper proposes fundamental design principles for PM with CMP. The topological arrangements of 2R1T PM with CMP are classified according to the number of limbs, their types, and the CMP structure. The basic constraint conditions and the redundant constraint conditions of 2R1T PM are analyzed. By establishing the relationship between finite motions, joint geometric parameters, and constraint screws, a series of limb structures that provide specific constraints in finite motions are constructed. Several configuration examples of gripper-wrist mechanism are provided, which can serve as a guide for subsequent researches. The design approach of CMP is discussed. The performance advantages of such mechanisms are validated through simulation-based comparisons. Copyright © 2025 by ASME.

关键词： Degrees of freedom (mechanics)

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Finite-step-integration:An original method for the forward kinematics analysis of parallel manipulators

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Frontiers of Mechanical Engineering 2025年第1期20卷 129-146页

作者： Yuan JIANG Bo HAN Xiaohan LIU Meng HAN Jiantao YAO Yongsheng ZHAO School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan UniversityQinhuangdao 066004China College of Information Science and Engineering Northeastern UniversityShenyang 110819China

In today’s society,parallel manipulators(PMs)are widely used in industrial production,aerospace,and other fields,where their forward kinematic analyses often serve as the foundation for various tasks,such as design,calibration,and *** the past few decades,this issue has seemingly been repeatedly addressed using various numerical methods,intelligent algorithms,and algebraic *** it is undeniable that solving the equations is easier with current technology,the problem of“how to formulate solvable equations”is often *** analysis issue typically involves establishing non-linear,multi-parameter,high-dimensional,and strong-coupled mathematical equations,which,from a geometric perspective,is also considered a process of solving a spatial *** considering the temporal dimension of motion between two isomorphic polytopes,based on calculus theory,it has been found that this non-linear problem can be transformed into the superposition of multiple iteratively linear ***,we propose an original method for the forward kinematic analysis of PMs,namely the finite-step-integration(FSI)*** this study,the mathematical principles and modeling methods of the FSI method are elucidated,and the modeling and programming processes of the FSI method are demonstrated using general 6-UPS and 3-UPS/S manipulators as *** the analysis of its unique algebraic structure,the methods for singularity determination and motion tracking characteristic analysis are *** method addresses the long-standing challenges in the forward kinematic modeling of PMs,which is applicable for design,calibration,and control,while also offering novel insights for modeling and solving certain non-linear engineering problems.

关键词： finite-step-integration forward kinematic analysis parallel manipulator singularity determination motion tracking

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Research on the motion-free axis synchronization of a novel translational linear structured light scanning system

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Optik 2025年 327卷

作者： Liu, Jianxin Liu, Xingyu Li, Yanwen Chen, Ziming School of Mechanical Engineering Yanshan University Hebei Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Hebei Qinhuangdao066004 China

The line-structured light three-dimensional measurement system has the advantages of non-contact, low cost, and high speed. A line mobile structured light scanner measurement system is designed in this paper. The surface scanning process based on line structured light measurement in the fixed camera coordinate system is realized. The single-line structured light emitter is fixed on the slider of the linear module, and a multi-line structured light emitter is added to assist in calculating the light plane equation of the single-line structured light. The system doesn't need to calibrate the trajectory of the linear module slider in the camera coordinate system, and there is no need to synchronize the timestamps of camera image acquisition and motor encoding reading. The error of calculating the parameters of the light plane equation caused by the time difference between the encoder and image acquisition is eliminated. Experiments show that the design has high precision and dense point clouds. © 2025

关键词： Cameras

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Design and Analysis of Single-drive Space Deployable Metamorphic Capture Manipulator

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2025年第1期61卷 30-43页

作者： Han, Bo Yang, Ming Luo, Mingyan Li, Mingyang Yao, Jiantao Zhao, Yongsheng School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China

In order to improve the problems of large volume and complex driving of grasping mechanism in space non-cooperative target capture task, a single-drive space deployable truss capture manipulator is proposed. Based on the scissor mechanism and metamorphic principle, the structure of the deployable basic unit is designed, and the deployable unit is connected by the synchronous hinge to realize the synchronous drive of each deployable unit on the single-branch truss. The characteristics of changing the axis of the revolute joint at a specific position can be realized by using the metamorphic joint in the unit, so that the unfolding motion of the manipulator is transformed into the turning motion of the platform, and the capture action of the manipulator is completed. On the basis of considering the friction, the dynamic model of the basic deployable unit is established by using the Lagrange equation. The position, velocity and acceleration of each connecting rod are obtained by vector operation, and the relationship between the driving force and the equivalent torque is obtained. The single-branch manipulator truss is equivalent to a 4R mechanism, and the dynamic model of the manipulator truss combination is further carried out by Newton-Euler recursive method, and the correctness of the model is verified by software simulation. The proposed space capture manipulator has the advantages of expandable, metamorphic, and small number of drives, which can provide theoretical guidance and reference for the research of related technical fields. © 2025 Chinese Mechanical Engineering Society. All rights reserved.

关键词： Trusses

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From Concept to Field Trials: Design, Analysis, and Evaluation of a Novel Quadruped robot with Deformable Wheel-Foot Structure

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IEEE Transactions on robotics 2025年 41卷 3143-3161页

作者： Ju, Zhongjin Wei, Ke Xu, Yundou Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao066004 China Yanshan University Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Qinhuangdao066004 China

This study introduces a novel quadruped robot, the TerraAdapt, furnished with an innovative deformable wheel-foot integrated structure. This unique design grants the robot the flexibility to alternate between wheeled and footed modes of locomotion, making it efficient in traversing diverse terrains, from smooth indoor floors to challenging outdoor landscapes laden with obstacles. The study delineates an in-depth design and analysis of the deformable wheel and its integrated wheel-foot structure using screw theory. We engineer a 2RRR-RP wheel-foot mode-switching mechanism by modifying a 2RRR spatial six-bar mechanism with an additional RP branch. This mechanism aids in seamless transitioning between different movement modes. Moreover, a 2RRR parallel structure is employed to construct the footed mode *** substantiate the viability and efficacy of the proposed design, we carry out extensive motion simulations and construct an experimental prototype for field testing. The field trials reveal the robot's adeptness in adapting to varied terrains, highlighting the possible advantages of incorporating the proposed deformable wheel into micro mobile robot designs. © 2004-2012 IEEE.

关键词： Machine design

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Contact Model of Revolute Joint with Clearance Based on Fractal Theory

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Chinese Journal of Mechanical Engineering 2018年第6期31卷 34-44页

作者： Shi-Hua Li Xue-Yan Han Jun-Qi Wang Jing Sun Fu-Juan Li Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University

The contact sti ness of a mechanical bonding surface is an important parameter in determining the normal and radial contact force. To improve the calculation accuracy of the contact force model, the surface roughness of the bonding surface and the energy loss that necessarily occurs during the impact process should be considered com?prehensively. To study the normal contact force of a revolute joint with clearance more accurately in the case of dry friction, a nonlinear sti ness coe cient model considering the surface roughness was established based on fractal theory, which considers the elastic, elastic?plastic, and plastic deformations of the asperities of the contact surface during the contact process. On this basis, a modified nonlinear spring damping model was established based on the Lankarani–Nikravesh contact force model. The laws influencing the surface roughness, recovery coe cient, initial velocity, and clearance size on the impact force were revealed, and were compared with the Lankarani–Nikravesh model and a hybrid model using MATLAB. The maximum impact force was obtained using a modified contact force model under di erent initial velocities, di erent clearances, and di erent degrees of surface roughness, and the calculated results were then compared with the experiment results. This study indicates that the modified model can be used more widely than other models, and is suitable for both large and small clearances. In particular, the modified model is more accurate when calculating the contact force of a revolute joint with a small clearance.

关键词： Fractal theory Modified contact model Surface roughness Lankarani–Nikravesh model

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Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom parallel Mechanism

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Chinese Journal of Mechanical Engineering 2022年第2期35卷 91-99页

作者： Ziming Chen Xuechan Chen Min Gao Chen Zhao Kun Zhao Yanwen Li School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004HebeiChina Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004HebeiChina

Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,entertainment equipment,and other ***,compared with the SPM,the structure types and research contents of the SPM are not abundant *** this paper,a novel two-degree-of-freedom(2DOF)SPM with symmetrical structure is proposed and ***,the models of forward kinematics and inverse kinematics are established based on D-H parameters,and the Jacobian matrix of the mechanism is obtained and ***,the workspace of the mechanism is obtained according to inverse kinematics and link interference ***,rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the ***,the rotational characteristics of the mechanism are proved,and motion planning is carried out.A numerical example is given to verify the kinematics analysis and motion ***,some variant mechanisms can be *** work lays the foundation for the motion control and practical application of this 2DOF SPM.

关键词： Spherical parallel mechanism 2DOF Workspace Equivalent rotation

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Analysis and Optimization of a Spatial parallel Mechanism for a New 5-DOF Hybrid Serial-parallel Manipulator

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Chinese Journal of Mechanical Engineering 2018年第3期31卷 60-68页

作者： Dong-Sheng Zhang Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University

Hybrid manipulators have potentially application in machining industries and attract extensive attention from many researchers on the basis of high sti ness and high dexterity. Therefore,in order to expand the application prospects of hybrid manipulator,a novel 5?degree?of?freedom(DOF) hybrid serial?parallel manipulator(HSPM) is proposed. Firstly,the design plan of this manipulator is introduced. Secondly,the analysis of this manipulator is carried out in detail,including kinematics analysis,statics analysis,and workspace analysis. Especially,an amplitude equivalent method of disposing the over?constrained force/couple to the non?overconstrained force/couple is used in the statics analysis. Then,three performance indices are used to optimize the PM. Two of them have been widely used,and the third one is a new index which considers the characteristics of the actuated force. Based on the performance indices,the performance atlas is drawn and the optimal design of the PM is investigated. In order to satisfy the anticipant kinetic characteristics of the PM,the verification of the optimized physical dimension is done and the workspace based on the optimized physical dimension is carried out. This paper will lay good theoretical foundations for application of this novel HSPM and also can be applied to other hybrid manipulators.

关键词： parallel mechanism Performance indices Optimal design Performance atlas

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Kinetostatics Analysis of a Novel 6-DOF parallel Manipulator with Three Planar Limbs and Equipped with Three Fingers

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Chinese Journal of Mechanical Engineering 2014年第5期27卷 919-927页

作者： LU Yi LI Xuepeng College of Mechanical Engineering Yanshan University Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education

It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator（PM）.However,the existing6-DOF PMs include spherical joint which has less capability of pulling force bearing,less rotation range and lower precision under alternately heavy loads.A novel 6-DOF PM with three planar limbs and equipped with three fingers is proposed and its kinematics and statics are analyzed systematically.A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics is *** kinematics formulae for solving the displacement,velocity,acceleration of the platform,the active legs and the fingers are *** statics formulae are derived for solving the active forces of PM and the finger *** analytic example is given for solving the kinematics and statics of proposed manipulator and the analytic solved results are verified by the simulation *** is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its manufacturing,control and application.

关键词： parallel manipulator planar limbs finger kinematics statics

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Type Synthesis of Two-Degrees-of-Freedom Rotational parallel Mechanism with Two Continuous Rotational Axes

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Chinese Journal of Mechanical Engineering 2016年第4期29卷 694-702页

作者： XU Yundou ZHANG Dongsheng WANG Min YAO Jiantao ZHAO Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Library Yanshan University

The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic *** is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application ***,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two ***,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically ***,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two *** different distributions of the constraint forces in each branch are also *** the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are *** the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.

关键词： type synthesis continuous rotational axes two rotational degrees of freedom parallel mechanism constraint force

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