Journal of Mechanisms and Robotics最新文献_第8页

Construction and multi-mode motion analysis of single-degree-of-freedom four-bar multi-mode planar mechanisms based on singular configuration 基于奇异构型的单自由度四杆多模平面机构的构造和多模运动分析

Journal of Mechanisms and Robotics Pub Date : 2024-01-24 DOI: 10.1115/1.4064569

Liangyi Nie, Huafeng Ding, A. Kecskeméthy

{"title":"Construction and multi-mode motion analysis of single-degree-of-freedom four-bar multi-mode planar mechanisms based on singular configuration","authors":"Liangyi Nie, Huafeng Ding, A. Kecskeméthy","doi":"10.1115/1.4064569","DOIUrl":"https://doi.org/10.1115/1.4064569","url":null,"abstract":"\u0000 The single-degree-of-freedom four-bar multi-mode planar mechanism (MMPM) is a type of four-bar mechanism, which not only has the structural characteristics of the traditional four-bar mechanisms but also can achieve multiple motion modes by changing its structure. It has the advantage of performing diverse functions while conserving resources, which opens up new possibilities for research and application of the four-bar mechanism. However, due to the lack of a systematic configuration construction method, the design and application of single-degree-of-freedom four-bar MMPMs are seriously limited. This paper presents a systematic method to construct a set of single-degree-of-freedom four-bar MMPMs based on the loop equations and the proposed multi-mode modules (MMMs). First, depending on the loop equations, the four-bar planar mechanism containing two branches is identified by the corresponding branch graphs. Then three kinds of MMMs are systematically proposed for the first time, helping the identified mechanism realize multiple motion modes. Subsequently, single-degree-of-freedom four-bar MMPMs are constructed by replacing the specific component of the planar mechanism with the MMMs. Furthermore, the replacement rules of MMMs and the corresponding construction steps are summarized. Finally, 14 kinds of single-degree-of-freedom four-bar MMPMs are listed and the corresponding multi-mode motion analysis is discussed at the end of this paper. The proposed method will provide a great convenience for the configuration design of single-degree-of-freedom four-bar MMPMs.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"62 16","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139600441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A hybrid method combining data-driven and model-based algorithms for external force-sensing and haptics control of cable-pulley-driven surgical robotic manipulator 一种结合数据驱动算法和模型算法的混合方法，用于电缆滑轮驱动外科手术机器人机械手的外力感应和触觉控制

Journal of Mechanisms and Robotics Pub Date : 2024-01-24 DOI: 10.1115/1.4064568

Zhengyu Wang, Xiang Yu, Mingxin Hai, Sen Qian, Daoming Wang, Ziqian Li

{"title":"A hybrid method combining data-driven and model-based algorithms for external force-sensing and haptics control of cable-pulley-driven surgical robotic manipulator","authors":"Zhengyu Wang, Xiang Yu, Mingxin Hai, Sen Qian, Daoming Wang, Ziqian Li","doi":"10.1115/1.4064568","DOIUrl":"https://doi.org/10.1115/1.4064568","url":null,"abstract":"\u0000 The implementation of the high-precision tracking control and external force-sensing ability of a manipulator is an important for achieving refined surgical robot operation. In this paper, a hybrid method based on data-driven and model-based algorithms is proposed for the manipulator of a cable-pulley-driven surgical robot. This method integrates an artificial neural network and a dynamic model rotation angle estimation, and a full closed-loop control architecture is further constructed. The algorithm compensates for the hysteresis of the joint angle and effectively improves the tracking control precision. Based on the architecture, the external force estimator (EFE) using a joint torque disturbance observer and the force interaction teleoperation control strategy using a direct force feedback framework (DFF) are implemented. In the force loading experiment, it was shown that the EFE performs well for static and dynamic force estimation, and the teleoperated haptic control experiment showed that the DFF-EFE-based system has a high position tracking accuracy with real-time external force-sensing ability.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"82 7","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139602036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Singularity Analysis of Actuation Coordination and New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators 执行协调的奇异性分析和冗余执行并行机械手优化设计的新指标

Journal of Mechanisms and Robotics Pub Date : 2024-01-24 DOI: 10.1115/1.4064574

Xiaofei Liu, Bo Wan, Yu Liu, Yu Wang, Yongsheng Zhao

引用次数: 0

Identification of Real and Complex Solution Varieties and their Singularities defined by Loop Constraints of Linkages using the Kinematic Tangent Cone 利用运动学切角锥识别连杆的环路约束所定义的实解和复解变量及其奇异点

Journal of Mechanisms and Robotics Pub Date : 2024-01-24 DOI: 10.1115/1.4064575

Andreas Mueller, Zijia Li

{"title":"Identification of Real and Complex Solution Varieties and their Singularities defined by Loop Constraints of Linkages using the Kinematic Tangent Cone","authors":"Andreas Mueller, Zijia Li","doi":"10.1115/1.4064575","DOIUrl":"https://doi.org/10.1115/1.4064575","url":null,"abstract":"\u0000 The configuration space (c-space) of a mechanism is the real solution variety of a set of loop closure constraints, which is therefore the chief object in kinematic analysis. Singularities of this variety (referred to as c-space singularities) are singular configurations of the mechanism. In addition, a mechanism may exhibit other kinematic singularities that are not visible from the differential geometry of the c-space (referred to as hidden singularities). The latter are manifested by a drop of rank of the constraint Jacobian while the c-space is locally a smooth manifold. Another kinematic feature that is only due to the corank of the constraint Jacobian, i.e. of the joint screw system, is the shakiness of a mechanism. Such situations were analyzed by investigating the local geometry of the c-space and its corank stratification. It has been shown recently that hidden singularities and shakiness can be attributed to the fact that complex solution branches intersect with the c-space, i.e., with real solution branches. This paper employs the kinematic tangent cone to identify local solution branches. While the kinematic tangent cone is an established generally applicable concept, which gives rise to a computational (numeric and symbolic) algorithm, it has yet only been applied to analyzing the real solution set. Application of the method is shown for several examples. Further, the algebraic aspects are briefly elaborated.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"52 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139601584","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Impact of the bars behavior on the design of soft tensegrities 杆件行为对软张拉结构设计的影响

Journal of Mechanisms and Robotics Pub Date : 2024-01-24 DOI: 10.1115/1.4064572

Jérémy Sand, F. Geiskopf, S. Abdelaziz, Philippe Poignet, Pierre Renaud

引用次数: 0

Design and testing of a new LARMbot torso 设计和测试新型 LARMbot 躯干

Journal of Mechanisms and Robotics Pub Date : 2024-01-12 DOI: 10.1115/1.4064486

Wenshuo Gao, Matteo Russo, Marco Ceccarelli

引用次数: 0

Novel and Robust Forward Kinematic Algorithm for Real Time Control of General 6-DoF Parallel Robot for Tele-manipulation and Tele-navigation 用于实时控制一般 6-DoF 并联机器人以实现远程操纵和远程导航的新颖而稳健的前向运动学算法

Journal of Mechanisms and Robotics Pub Date : 2024-01-12 DOI: 10.1115/1.4064485

Kumar Ravinder, T. Dwarakanath, Gaurav Bhutani, S. Sinha

引用次数: 0

A Novel Elbow-inspired Cable-driven Tensegrity Joint: Bionic Design, Coupled Kinematics and Load Performance 受肘部启发的新型拉索驱动张力关节：仿生设计、耦合运动学和负载性能

Journal of Mechanisms and Robotics Pub Date : 2024-01-09 DOI: 10.1115/1.4064462

X. Xie, Dezhu Xiong, Zhenqi Li, James Zhiqing Wen

{"title":"A Novel Elbow-inspired Cable-driven Tensegrity Joint: Bionic Design, Coupled Kinematics and Load Performance","authors":"X. Xie, Dezhu Xiong, Zhenqi Li, James Zhiqing Wen","doi":"10.1115/1.4064462","DOIUrl":"https://doi.org/10.1115/1.4064462","url":null,"abstract":"\u0000 Tensegrity-based robot joint offers mechanical compliance under external impact and in man-machine interaction. So its practical bionic design has become a research hotspot. A variety of tensegrity-based flexible joint have been proposed and verified, but the research is not in-depth enough on control and motion modeling, transmission characteristics, and load performance analysis for robot joints with coupled driving cables and tensegrity structure. Based on current situation, an elbow-inspired rotary joint is proposed following human anatomy. With the help of tensegrity node balance, the inherent relationships between the joint's rotation and translation and between the driving cables' tension and the joint's rotation are derived. The load performance of the joint is also explored, and the end load is calculated from the deviation between cables' tension of no-load condition. A prototype and an antagonistic cable driver with tension sensors are designed and manufactured to verify the proposed model, and the experimental results are well agreed with the theoretical prediction. In the future, the model and the method proposed in will be applied to joints with multiple degrees of freedom and variable stiffness.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"48 15","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139442451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Complete kinematics / dynamics modeling and performance analysis of a novel SCARA parallel manipulator based on screw theory 基于螺杆理论的新型 SCARA 并联机械手的完整运动学/动力学建模和性能分析

Journal of Mechanisms and Robotics Pub Date : 2024-01-09 DOI: 10.1115/1.4064461

Dong Liang, Yi Mao, Yimin Song, Boyan Chang, Tao Sun

{"title":"Complete kinematics / dynamics modeling and performance analysis of a novel SCARA parallel manipulator based on screw theory","authors":"Dong Liang, Yi Mao, Yimin Song, Boyan Chang, Tao Sun","doi":"10.1115/1.4064461","DOIUrl":"https://doi.org/10.1115/1.4064461","url":null,"abstract":"\u0000 In this paper, a novel Selective Compliance Assembly Robot Arm (SCARA) high-speed parallel manipulator that can realize three-translations and one-rotation motion is proposed, and an accurate dynamic modeling methodology is investigated. The mechanism is composed of four limbs with double parallelogram structure and a single moving platform. The high bearing capacity and high dynamic response of the novel mechanism make it a viable alternative choice for this kind of automation equipment. The degree of freedom (DOF) of the mechanism is analyzed by the screw theory. At the same time, the velocity mapping model of the mechanism is established by the twist screw and the actuated Jacobian matrix. Then, the acceleration mapping model of the mechanism including the generalized kinematic pairs is established by reduced acceleration state, the modified Lie screw and the acceleration Hessian matrix. On this basis, the complete dynamic model with compact form of the mechanism is deduced by the combination of screw theory and virtual work principle, and the correctness of the developed model is verified by multi-body simulation software. Finally, considering the inertial characteristics of the mechanism, the dynamic performance distribution in the reachable workspace of the mechanism is analyzed by Joint-Reflected Inertia (JRI) index and Coefficient of Variation of joint-space Inertia (CVI) index, and some areas are selected as the task workspace using the above index to guarantee good dynamic performance.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"21 18","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139443282","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design, modeling and control of a compact and reconfigurable variable stiffness actuator using disc spring 使用碟形弹簧的紧凑型可重构变刚度致动器的设计、建模和控制

Journal of Mechanisms and Robotics Pub Date : 2024-01-09 DOI: 10.1115/1.4064463

Chen Ji, Zhongqiang Zhang, Guanggui Cheng, Minxiu Kong, Ruifeng Li

引用次数: 0