PARALLEL_MECHANISM

作品数：99被引量：381H指数：12
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相关作者：王国珍吴超常鹏更多>>
相关机构：清华大学北京理工大学中国科学院自动化研究所更多>>
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相关基金：国家自然科学基金中国博士后科学基金国家重点基础研究发展计划中国航空科学基金更多>>
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Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms
《Chinese Journal of Mechanical Engineering》2024年第5期349-364,共16页Hao Zheng Chenbo Liang Feng Gao Chenkun Qi Bingze He Renqiang Liu Longhai Chen 
Supported by Shanghai Municipal Science and Technology Major Project of China(Grant No.2021SHZDZX).
The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In tu...
关键词：Medical surgical robot Macro-micro integrated system Modular parallel mechanism High-precision robot 
Configuration Design and Size Optimization of a High-Precision Novel Parallel Pointing Mechanism Based on Interference Separation
《Chinese Journal of Mechanical Engineering》2024年第5期365-386,共22页Sen Wang Shihua Li Xueyan Han Jiahao Wei Xueyuan Gao Hongyu Xu 
Supported by the National Natural Science Foundation of China(52275032);the Natural Science Foundation of Hebei Province(E2022203077);the Hebei Provincial Science and Technology Plan(22371801D);the Hebei Provincial Science and Technology Research and Development Program-Central Guidance for Local Science and Technology Development Fund(246Z1818G).
Pointing mechanism is widely used in aerospace field,and its pointing accuracy and stability have high requirements.The pointing mechanism will be affected by external interference when it works.In order to eliminate ...
关键词：Pointing mechanism Interference separation Double-layer parallel mechanism Force compensation coefficient Multi-objective optimization 
Kinematic-mapping-model-guided analysis and optimization of 2-PSS&1-RR circular-rail parallel mechanism for fully steerable phased array antennas
《Defence Technology（防务技术）》2024年第8期136-154,共19页Guodong Tan Xiangfei Meng Xuechao Duan Lulu Cheng Dingchao Niu Shuai He Dan Zhang 
financed by the National Key Research and Development Program of China,High efficiency space satellite charging system based on microwave wireless energy transfer technology(Grant No.2021YFB3900304)。
This paper presents a systematic methodology for analyzing and optimizing an innovative antenna mount designed for phased array antennas, implemented through a novel 2-PSS&1-RR circular-rail parallel mechanism. Initia...
关键词：Innovative antenna mount Circular rail Kinematic mapping model Crank-slider linkage Stiffness singularity BACKTRACKING 
Design,Simulation and Kinematic Validation of a Hip Prosthetic Mechanism with a Multimotor Function
《Journal of Bionic Engineering》2024年第3期1321-1333,共13页Majun Song Zhongyi Li Jingjing Jiang Weihai Chen Sheng Guo Hao Zheng Lianzheng Niu 
the financial support provided by the Key Research and Development Program of Zhejiang Province under Grant 2021C03050;in part by the Scientific Research Project of Agriculture and Social Development of Hangzhou under Grant 2020ZDSJ0881;in part by the National Natural Science Foundation of China under Grant 52275004;in part by the State Key Program of National Natural Science Foundation of China under Grant 62333023.
We previously developed a powered hip prosthetic mechanism with kinematic functions of hip flexion-extension and abduction-adduction,and its theoretical and simulation-based kinematics were verified.Because internal-e...
关键词：Hip prosthetic mechanism Parallel mechanism Walking stability Kinematic validation 
Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms被引量：1
《Chinese Journal of Mechanical Engineering》2024年第3期62-82,共21页Xuejian Ma Zhenghe Xu Yundou Xu Yu Wang Jiantao Yao Yongsheng Zhao 
Supported by National Natural Science Foundation of China (Grant Nos.51875495,U2037202);Hebei Provincial Science and Technology Project (Grant No.206Z1805G)。
Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining robots.However,there is a lack of an effective method to evaluate th...
关键词：Parallel mechanism STIFFNESS Over-constrained Three degrees of freedom 
Solution for Output Coordination Equations of Several Typical Parallel Six-Dimensional Acceleration Sensing Mechanisms
《Transactions of Nanjing University of Aeronautics and Astronautics》2024年第S01期96-102,共7页ZHANG Xianzhu YOU Jingjing ZHANG Yuanwei 
supported in part by the National Natural Science Foundation of China(No.51405237)。
Aiming at the problem that it is difficult to generate the dynamic decoupling equation of the parallel six-dimensional acceleration sensing mechanism,two typical parallel six-dimensional acceleration sensing mechanism...
关键词：six-dimensional acceleration sensor parallel mechanism topological configuration coordination equation dynamics 
Design and Verification of Parallel Hip Exoskeleton Considering Output Torque Anisotropy
《Journal of Bionic Engineering》2024年第3期1305-1320,共16页Jilong Xu Yunzhan Niu Fucai Liu 
funded by the Natural Science Foundation of Hebei Province(Grant no.F2022203043);the Provincial Key Laboratory Performance Subsidy Project(Grant no.22567612 H).
In rehabilitation training,it is crucial to consider the compatibility between exoskeletons and human legs in motion.However,most exoskeletons today adopt an anthropomorphic serial structure,which results in rotationa...
关键词：Hip exoskeleton Parallel mechanism MISALIGNMENT ANISOTROPY Output torque 
Dynamic Modeling and Experimental Verification of an RPR Type Compliant Paralle Mechanism with Low Orders
《Chinese Journal of Mechanical Engineering》2024年第3期83-94,共12页Shuang Zhang Jingfang Liu Huafeng Ding Yanbin Zhang 
Supported by National Natural Science Foundation of China (Grant No.51975007)。
Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment.Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper.The ...
关键词：Compliant parallel mechanism Dynamic model Modal synthesis method Dynamic experiment 
A Piezoelectrically Driven Microrobot Using a Novel Monolithic Spatial Parallel Mechanism as Its Hip Joint
《Journal of Bionic Engineering》2024年第2期803-820,共18页Guangping Wu Ziyang Wang Jiaxin Zhao Feng Cui Xinghan Cai 
supported by the Shanghai professional technology service platform under Grant 19DZ2291103.
Inspired by the fast,agile movements of insects,we present a 1.9 g,4.5 cm in length,piezoelectrically driven,quadrupedal microrobot.This microrobot uses a novel spatial parallel mechanism as its hip joint,which consis...
关键词：Insect-like Crawling microrobot Piezoelectric drive Parallel mechanism Monolithic fabrication 
Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom
《Chinese Journal of Mechanical Engineering》2024年第1期160-175,共16页Ya Liu Wenjuan Lu Dabao Fan Weijian Tan Bo Hu Daxing Zeng 
Supported by Key Scientific Research Platforms and Projects of Guangdong Regular Institutions of Higher Education of China(Grant No.2022KCXTD033);Guangdong Provincial Natural Science Foundation of China(Grant No.2023A1515012103);Guangdong Provincial Scientific Research Capacity Improvement Project of Key Developing Disciplines of China(Grant No.2021ZDJS084);National Natural Science Foundation of China(Grant No.52105009).
The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the patient.This study ...
关键词：Ankle rehabilitation robot SELF-ALIGNMENT Parallel mechanism Type synthesis Screw theory 
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