PARALLEL_MANIPULATOR

作品数：84被引量：334H指数：10
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Finite-step-integration:An original method for the forward kinematics analysis of parallel manipulators
《Frontiers of Mechanical Engineering》2025年第1期129-146,共18页Yuan JIANG Bo HAN Xiaohan LIU Meng HAN Jiantao YAO Yongsheng ZHAO 
supported by the National Natural Science Foundation of China(Grant Nos.52105035 and 62203094);the Special Central Funds for Guiding Local Scientific and Technological Development,China(Grant No.236Z1801G);the Higher Education Youth Top Talent Project of Hebei Province,China(Grant No.BJK2024042);the Natural Science Foundation of Hebei Province,China(Grant Nos.E2021203109 and F2023501021);the Graduate Student Innovation Capability Training and Support Project of Hebei Province,China(Grant No.CXZZBS2024053).
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,c...
关键词：finite-step-integration forward kinematic analysis parallel manipulator singularity determination motion tracking 
Lightweight and high-security laser-based cotton tip pruning robot
《International Journal of Agricultural and Biological Engineering》2024年第4期98-108,共11页Xuan'ang Guo Ziyang Mao Zedong Shi Wei Lu 
supported in part by the Modern Agriculture Project of Jiangsu Province Science and Technology Plan Special Fund Project(Grant No.BE2022363);the Fundamental Research Funds for the Central Univerisities(Grant No.KYCXJC2024003);the Modern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project of Jiangsu Province(Grant No.NJ2022-03).
Considering the current environmental pollution caused by chemical topping,plant damage caused by mechanical topping,and the high cost of manual topping,a laser-based cotton-tip pruning robot for field cotton was desi...
关键词：laser topping parallel manipulator photothermal response object detection 
Systematic Elastostatic Stiffness Model of Over-Constrained Parallel Manipulators Without Additional Constraint Equations
《Chinese Journal of Mechanical Engineering》2024年第4期258-276,共19页Chao Yang Wenyong Yu Wei Ye Qiaohong Chen Fengli Huang 
Supported by National Natural Science Foundation of China (Grant No.52275036);Key Research and Development Project of the Jiaxing Science and Technology Bureau (Grant No.2022BZ10004)。
The establishment of an elastostatic stiffness model for over constrained parallel manipulators(PMs),particularly those with over constrained subclosed loops,poses a challenge while ensuring numerical stability.This s...
关键词：Parallel manipulator Elastostatic stiffness model Matrix structural analysis Subassembly element Independent displacement coordinates 
Gravity-Based Kinetostatic Modeling of Parallel Manipulators Using Screw Theory
《Chinese Journal of Mechanical Engineering》2023年第6期73-86,共14页Chao Yang Fengli Huang Wei Ye Qiaohong Chen 
Supported by National Natural Science Foundation of China(Grant No.52275036);Key Research and Development Project of Jiaxing Science and Technology Bureau of China(Grant No.2022BZ10004).
The pose accuracy of parallel manipulators(PMs)is a key index to measure their performance.Establishing the grav-ity-based kinetostatic model of a parallel robot provides an important basis for its error composition a...
关键词：Parallel manipulator Kinetostatic model GRAVITY Screw theory 
A Comparative Study on Kinematic Calibration for a 3-DOF Parallel Manipulator Using the Complete-Minimal,Inverse-Kinematic and Geometric-Constraint Error Models
《Chinese Journal of Mechanical Engineering》2023年第5期206-230,共25页Haiyu Wu Lingyu Kong Qinchuan Li Hao Wang Genliang Chen 
Supported by National Key Research and Development Program of China(Grant No.2019YFA0709001);National Natural Science Foundation of China(Grant Nos.52022056,51875334,52205031 and 52205034);National Key Research and Development Program of China(Grant No.2017YFE0111300).
Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a c...
关键词：Kinematic calibration Parallel manipulator Error modeling Product of exponential(POE) 
Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties被引量：1
《Computers, Materials & Continua》2023年第2期2771-2787,共17页Van-Truong Nguyen 
the Vietnam National Foundation for Science and Technology Development(NAFOSTED);Vietnam under Grant No.(107.01-2019.311).
In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators...
关键词：Parallel manipulator uncertainties and disturbances nonsingular fast terminal sliding mode control non-negative adaptive mechanism tracking differentiator 
Workspace and Accuracy Analysis on a Novel 6‑UCU Bone‑attached Parallel Manipulator被引量：4
《Chinese Journal of Mechanical Engineering》2022年第3期148-160,共13页Kaijie Dong Duanling Li Xingyu Xue Chang Xu Haowei Wang Xianming Gao 
National Natural Science Foundation of China(Grant Nos.51775052,52175019);Beijing Municipal Natural Science Foundation of China(Grant No.21C10109);Beijing Municipal Key Laboratory of Space-ground Interconnection and Convergence of China.
With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical robots.The bone-attached robot,a popular orthopedic robot in recent ye...
关键词：Medical robot Bone-attached robot Parallel manipulator Workspace analysis Accuracy analysis 
A modified similitude analysis method for the electro-mechanical performances of a parallel manipulator to solve the control period mismatch problem被引量：3
《Science China(Technological Sciences)》2022年第3期541-552,共12页WU Jun SONG YuYao LIU ZiLin LI GuoFa 
supported by the National Natural Science Foundation of China(Grant No.51975321);the Opening Project of the Key Laboratory of CNC Equipment Reliability,Ministry of Education,Jilin University(Grant No.202101)。
Due to the discrete feature and performance limitation of the numerical controller,the control period sometimes cannot meet the constraints of the scaled model in similitude analysis,which brings the control period mi...
关键词：similitude analysis control period mismatch parallel manipulator electro-mechanical performance discrete system 
Optimal design of a linkage-cam mechanism-based redundantly actuated parallel manipulator
《Frontiers of Mechanical Engineering》2021年第3期451-467,共17页Haiying WEN Zhisheng ZHANG Min DAI Ming CONG Weiliang XU 
This work was supported by the National Natural Science Foundation of China(Grant Nos.51705063 and 51575078);the Natural Science Foundation of Jiangsu Province,China(Grant No.BK20190368).
A redundantly actuated parallel manipulator(RAPM)with mixed translational and rotational degrees of freedom(DOFs)is challenged for its dimensionally homogeneous Jacobian modeling and optimal design of architecture.In ...
关键词：REDUNDANT ACTUATION parallel MANIPULATOR linkage-cam mechanism JACOBIAN optimal design 
Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator被引量：3
《Chinese Journal of Mechanical Engineering》2020年第4期63-76,共14页Lihang Wang Shaofei Cui Chong Ma Lijie Zhang 
National Natural Science Foundation of China(Grant No.51875499).
The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying capacity.However,the high-precision trajectory tracki...
关键词：Parallel manipulator Impedance control Hydraulic servo system Trajectory tracking 
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