The accuracy and stability of robotic systems are significantly influenced by joint clearances, especially in precision applications like optical mirror polishing. This study focuses on a 5-DOF (Degree Freedom) parallel manipulator designed for conducts dynamic modeling incorporating prismatic clearance examines the resulting response. Previous studies have primarily focused planar mechanisms with rotational or ball whereas research manipulators spatial clearances remains limited. introduces...

SUMMARY Considering the polishing requirements for high-precision aspherical optical mirrors, a hybrid robot composed of serial–parallel manipulator and dual rotor grinding system is proposed. Firstly, based on kinematics serial components, equivalent load model parallel established. Then, elastodynamic kinematic branched-chains established by using spatial beam element, rigid–flexible coupling dynamic obtained with Kineto-elasto dynamics theory. Further, considering properties joint...

Abstract Extraction of high-temperature geothermal resources from reservoirs is a challenge due to the complex interactions between temperature, permeability, and stress fields. Variations in physical fields are critical thermal reservoir engineering. In this study, coupling mechanism systematically explored using theoretical analyses numerical simulations, by three-field model. This study models changes porosity permeability evolution during extraction, emphasizing importance term. The...

Large optical mirrors require an ultra-precise machining equipment, and a high level of surface-forming precision must be achieved. However, mirror processing systems (OMPSs) are susceptible to human behaviors, mechanical structural errors, environments. The factors that affect quality include artificially formulated processes, slurry choice, joint friction, force-induced deformation, ambient temperature, vibration interference. These can lead decrease in the accuracy OMPS. To study...

SUMMARY In this paper, the kinematic accuracy problem caused by geometric errors of a 2(3HUS+S) parallel manipulator is described. The equation obtained establishing D–H (Denavit–Hartenberg) coordinate system. A transformation matrix used as error-modeling tool, and error model integrating manufacturing assembly established based on perturbation theory. iterative Levenberg–Marquardt algorithm to identify in model. According experimentally measured attitudes, calibration process simulated...

This paper countered with the problem of trackless rubber tire vehicle transport traffic jam in coal mines auxiliary transportation system at present, based on characteristic and different roadway underground, putting forward planning research method line mine. The has very important practical significance to realize reasonable scheduling underground

This paper discusses the stiffness characteristic of a 2(3HUS+S) parallel manipulator. manipulator can be applied to hip joint motion and simulate two joints in same time. The components is given by Hooke's law, global matrix model established based on virtual work principle Principle deformation superposition. local evaluation indexes are defined. In workspace manipulator, numerical simulation conducted using MATLAB. this assessed analyzing influence attitude parameters structural indexes....

Singularity analysis is one of the basic problems for parallel manipulators. When a manipulator moves in singular configuration, motion and transmission performance are poor. In certain serious cases, normal operation could be damaged. Based on topology structure kinematics 2(3HUS+S) manipulator, Jacobian matrices were established. Then, locus surface was obtained by numerical simulation. addition, relationship between path curve analyzed. this study, α, β, γ attitude angles that describe...

Due to the singularity existence of a parallel manipulator, manipulator may cause bifurcation when passing position singular point. When set motion input parameters are given, it is possible produce two or more configurations at point, which makes generate movement trends moves point: retention configuration and non-retention configuration. point on non-retentive curve, lose control uncontrolled DOF. Few works have dealt with relation between parameters, as well properties nearby...

Fatigue life for robotic components is the time or disturbance load times of fatigue crack initiation to damage. Most loads on are random. The amplitude and interaction random have an effect damage quantity, which will affect accuracy estimation. In this paper, a non-homogeneous Poisson process used simulate load, parameters calculated by neural network method. associated theory solves inaccuracy estimation because interaction, tests eight levels employed verify rationality Finally, ball...

SUMMARY Aiming at 3SPS+1PS parallel hip joint simulator, the maximum stress of branched chains under suggested trajectory is obtained by elastodynamic analysis. Based on Corten-Dolan fatigue damage theory and Rain-flow counting method, dynamic each chain statistically analyzed. The life prediction shows that branched-chain A 2 P C weakest component for simulator. Finally, reliability analyzed different structural parameters are discussed. study can be increased or balanced increasing...