A5077692027- Robotic Mechanisms and Dynamics
- Iterative Learning Control Systems
- Modular Robots and Swarm Intelligence
- Piezoelectric Actuators and Control
- Advanced Materials and Mechanics
- Structural Analysis and Optimization
- Soft Robotics and Applications
- Robot Manipulation and Learning
- Advanced Surface Polishing Techniques
- Prosthetics and Rehabilitation Robotics
- Muscle activation and electromyography studies
- Robotics and Sensor-Based Localization
- Manufacturing Process and Optimization
- Advanced Numerical Analysis Techniques
- Advanced Measurement and Metrology Techniques
- Robotic Locomotion and Control
- Mechanical Engineering and Vibrations Research
- Robotic Path Planning Algorithms
- Winter Sports Injuries and Performance
- Lower Extremity Biomechanics and Pathologies
- Bone fractures and treatments
- Mechanics and Biomechanics Studies
- Insect and Arachnid Ecology and Behavior
- Mechanical stress and fatigue analysis
- E-commerce and Technology Innovations
University of Duisburg-Essen
2025
Tsinghua University
2017-2024
Tokyo Institute of Technology
2024
State Key Laboratory of Tribology
2017-2023
Beihang University
2023
Siemens (China)
2018-2020
Abstract Motion/force transmissibility is an essential property reflecting the kinematic performance of parallel robots. Research on this single-platform robots (SPPRs) has long been concerned and studied. In contrast, although many innovations applications high-speed articulated-platform (APPRs) have presented, few studies their motion/force reported. This paper deals with analysis articulated platforms. A modified output transmission index (MOTI) for platforms proposed based a newly...
ABSTRACT Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades, receiving widespread attention undergoing significant advancements. Despite extensive research encompassing type synthesis, dimension optimization, control theory, design principles, manufacturing techniques, others, comprehensive reviews on motion–force‐related performance of parallel their applications to real‐world problems are still lacking. This review...
This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed consists base, arms 1½ mobile platform. platform is major innovation that avoids output singularity offers advantages both single double platforms. To investigate characteristics robot's DOFs, line graph method based on Grassmann geometry adopted in mobility analysis. In addition,...
Abstract This paper presents the kinematic calibration of a four-degrees-of-freedom (4DOF) high-speed parallel robot. In order to improve effect by decreasing influence unobservable disturbance variables introduced error measurement, measurement configuration optimization method is proposed. Configurations are iteratively selected inside workspace searching algorithm, then selection results evaluated through an index associated with condition number identification Jacobian matrix; finally,...
Abstract Motion–force interaction performance analyses of redundantly actuated and overconstrained parallel robots with closed-loop subchains are an open problem considering two challenges: (a) how to take all the internal wrenches into account at same level when mobile platform suffers uncertain loads (b) disclose influence structural parameters inside on robot’s performance. To tackle this problem, based blocking-and-acting strategy, paper proposes a new screw-based method analyze...
Driving system parameters optimization, especially the optimal selection of specifications motor and gearbox, is very important for improving high-speed parallel robots' performance. A challenging issue performance evaluation that should be able to illustrate accurately guide driving optimization effectively. However, this complicated by anisotropic translational rotational dynamic performance, multiparameters motors gearboxes. In paper, separating influence degrees-of-freedom (DOFs) on a...
Abstract Deployable polyhedral grippers have attracted increasing attention for their priority in noncontact capturing missions. Enrichment of these may benefit the conduction various tasks. In this paper, novel deployable are presented. A design flow is proposed structural designs diverse grippers. The core problem during construction reducible to and combination multiple synchronously modules. Each module, containing three faces connected by two revolute joints, can realize...