A5036840301- Robotic Mechanisms and Dynamics
- Piezoelectric Actuators and Control
- Soft Robotics and Applications
- Manufacturing Process and Optimization
- Advanced Measurement and Metrology Techniques
- Iterative Learning Control Systems
- Structural Analysis and Optimization
- Robot Manipulation and Learning
- Modular Robots and Swarm Intelligence
- Dynamics and Control of Mechanical Systems
- Advanced Materials and Mechanics
- Advanced Surface Polishing Techniques
- Advanced Numerical Analysis Techniques
- Mechanical Engineering and Vibrations Research
- Mechanics and Biomechanics Studies
- Optical measurement and interference techniques
- Robotic Locomotion and Control
- Teleoperation and Haptic Systems
- Bone fractures and treatments
- Innovations in Concrete and Construction Materials
- Advanced Manufacturing and Logistics Optimization
- Metallurgy and Material Forming
- Topology Optimization in Engineering
- Tactile and Sensory Interactions
- Advanced Welding Techniques Analysis
Tianjin haihe hospital
2024
Tianjin University
2015-2024
KTH Royal Institute of Technology
2017-2019
Queen's University Belfast
2015
In current robot calibration approaches, the error propagation and identification of serial parallel robots fail to be solved intuitively generically, resulting in an inefficient implementation a low accuracy improvement. this article, we present generic modeling method extend by finite instantaneous screw (FIS) theory. The differential map explicit description FIS on motions enable concise robot. identifiability errors is discussed. maximum independent are proved 4r + 2p 6, where r p...
Geometric errors, vibration, and elastic deformation are the main causes for inaccuracy of parallel kinematic machines (PKMs). Instead tackling these inaccuracies after prototype has been built, this paper proposes a design optimization method to minimize vibration considering effects geometric errors before constructing PKM. In paper, described as parameter uncertainty because they unknown in stage. A five degree-of-freedom (DoF) PKM is taken exemplify method. Elastodynamic model first...
Robot calibration to provide an accurate kinematic model is widely adopted in the advanced controller development of articulated serial robot performing complicated tasks. Conventional methods mainly focus on complete, continuous, and minimal error modeling. The generation accumulation errors have not been explicitly explained. In addition, identification compensation sometimes are practical for establishment. This article presents a method using finite instantaneous screw theory. From...
Driven by requirements of five-axis numerical control (NC) machine for its executive mechanism, this paper creatively proposes a flow path to synthesize novel class n-degree-of-freedom (n-DoF, 4 ≤ n 6) parallel manipulators (PMs) resorting four steps, and takes patented 5-DoF PM, named T5, example demonstrate the in depth. Comparing with existing mechanisms, PMs has some advantages light end-effector, good static, dynamic performance, so on. Upon underlying architecture kinematic analysis...
In order to meet the requirements of large downward force and high stiffness performance for friction stir welding process, this paper proposes a 5 degree-of-freedom hybrid manipulator as robot. It is composed 3 redundant parallel module 2 rotating head. Semi-analytical model firstly established by compliance models two substructures. Virtual work principle, deformation superposition principle twist/wrench mapping are applied modeling process. A novel instantaneous index then proposed on...
Parallel manipulator (PM) embraces more kinematic errors than serial mechanism. The substantial in PM usually demand measurements, which leads to low efficiency and affects the accuracy of identification due ill-conditioning problem. Having realized this common problem calibration PMs, we carried out a finite instantaneous screw (FIS)-based on 6- <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">R</u> UHU before application fracture...
The kinematic accuracy improvement is a key challenge in the development of over-constrained parallel mechanisms (PMs). Taking two degree-of-freedom (DoF) PM applied assembly line as an example, this paper addresses calibration problem to improve and promote its practical application. Instead establishing conventional error mapping model, nonlinear model built by inserting geometric errors parts real inverse position analysis. On basis, set identification equations are formulated. Unlike...
Tensegrity mobile robots are well-appraised for their high stiffness-to-mass ratio and superior structural compliance. However, traditional untethered tensegrity usually have low velocity due to the large actuation force required by coupling effects among stiff struts soft cables. This also leads drawback of bulky volume heavy mass robots. In addition, existing very limited locomotion modes, resulting in weak multi-terrain adaptability this letter, we report a small-scale robot with...
Jumping robots possess the capability to surmount formidable obstacles and are well-suited for navigating through complex terrain environments. However, most of existing jumping face challenges in achieving stable they also have low energy utilization efficiency, which limits their practical applications. In this work, a two-module robot based on tensegrity structure is put forward. Firstly, structural design mechanism elaborated article. Then, dynamic models, including two modules’...