A5068499629- Robotic Mechanisms and Dynamics
- Iterative Learning Control Systems
- Piezoelectric Actuators and Control
- Advanced Surface Polishing Techniques
- Soft Robotics and Applications
- Manufacturing Process and Optimization
- Advanced Measurement and Metrology Techniques
- Advanced Numerical Analysis Techniques
- Robot Manipulation and Learning
- Advanced machining processes and optimization
- Mechanical Engineering and Vibrations Research
- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Control and Dynamics of Mobile Robots
- Robotic Locomotion and Control
- Modular Robots and Swarm Intelligence
- Advanced Materials and Mechanics
- Mechanics and Biomechanics Studies
- Robotics and Automated Systems
- Prosthetics and Rehabilitation Robotics
- Hydraulic and Pneumatic Systems
- Structural Analysis and Optimization
- Advanced Image and Video Retrieval Techniques
- Dynamics and Control of Mechanical Systems
- Space Satellite Systems and Control
Tsinghua University
2016-2025
State Key Laboratory of Tribology
2014-2025
Nanjing Agricultural University
2025
Siemens (China)
2018-2021
Fraunhofer Institute for Machine Tools and Forming Technology
2016-2017
Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed achieved good performance under certain circumstances. However, some problems are still not well solved, example, how tackle moving objects in dynamic environments, make robots truly understand surroundings accomplish advanced tasks. In this paper, robust semantic visual towards environments named...
In this paper, a novel parallel kinematic mechanism (PKM) with Schönflies motion has been proposed under the guidance of graphical type synthesis method. This PKM is composed four identical arms and single platform high rotational capability. The single-platform structure used in can reduce structural complexity, increase dynamic response. addition, composite parallelogram each arm brings better limb stiffness. Based on concept, optimal design carried out to make realize its potential....
This paper presents a comparison study of two important three-degree-of-freedom (DOF) parallel manipulators, the Sprint Z3 head and A3 head, both commonly used in industry. As an initial step, inverse kinematics are derived analysis classes limbs is carried out via screw theory. For comparison, three transmission indices then defined to describe their motion/force performance. Based on same main parameters, compared results reveal some distinct characteristics addition similarities between...
Performance evaluation is one of the most important issues in field parallel kinematic manipulators (PKMs). As a very class PKMs, redundant PKMs have been studied intensively. However, performance this type still unresolved and challenging endeavor. In paper, indices that assimilate motion/force transmissibility are proposed to evaluate PKMs. To illustrate application these indices, three with different kinds redundancies taken as examples, atlases plotted based on definitions indices....
This paper deals with the kinematic optimization of a five degrees-of-freedom (DoFs) spatial parallel mechanism three chains. Inspired by structure icosahedron, base discussed has been designed into compact and light-weight frame. Due to potential advantages, this is used as movable plug-in module in multi-axis machine center process large-scale parts rotary contour surfaces. To derive its optimal parameters, based on motion/force transmissibility carried out. The parameter design space...
A spatial parallel kinematic mechanism (PKM) with five degrees of freedom (DoFs) and three limbs is proposed in this paper. To investigate the characteristics mechanism's DoFs, mobility analysis based on a line graph method Grassmann geometry carried out. The results show that mobile platform can rotate about fixed point at base translate specific plane (i.e., rotations two translations). Therefore, be located an arbitrary space has flexible orientational capability. orientation described by...