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FME2016年第2期已出版(机构学与机器人学专辑)

已有 1767 次阅读 2016-7-15 09:57 |系统分类:论文交流

Front. Mech. Eng.    Vol.11, No.2, 2016    Table of Contents Alert
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EDITORIAL
Special issue: Mechanisms and robotics

DOI: 10.1007/s11465-016-0399-5

Jingjun YU

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Cite this article: Jingjun YU. Special issue: Mechanisms and robotics[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 117-118

REVIEW ARTICLE
A brief review on nonlinear modeling methods and applications of compliant mechanisms

DOI: 10.1007/s11465-016-0387-9

Guangbo HAO,Jingjun YU,Haiyang LI

Abstract: Compliant mechanisms (CMs) have become one of the most popular research themes in mechanisms and robotics because of their merits. This paper aims to provide a brief systematic review on the advances of nonlinear static modeling approaches and the applications of CMs to promote interdisciplinary/multidisciplinary development for associated theories and other new applications. It also predicts likely future directions of applications and theory development.

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Cite this article: Guangbo HAO,Jingjun YU,Haiyang LI. A brief review on nonlinear modeling methods and applications of compliant mechanisms[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 119-128

RESEARCH ARTICLE
Understanding coupled factors that affect the modelling accuracy of typical planar compliant mechanisms

DOI: 10.1007/s11465-016-0392-z

Guangbo HAO,Haiyang LI,Suzen KEMALCAN,Guimin CHEN,Jingjun YU

Abstract: In order to accurately model compliant mechanism utilizing plate flexures, qualitative planar stress (Young’s modulus) and planar strain (plate modulus) assumptions are not feasible. This paper investigates a quantitative equivalent modulus using nonlinear finite element analysis (FEA) to reflect coupled factors in affecting the modelling accuracy of two typical distributed-compliance mechanisms. It has been shown that all parameters have influences on the equivalent modulus with different degrees; that the presence of large load-stiffening effect makes the equivalent modulus significantly deviate from the planar assumptions in two ideal scenarios; and that a plate modulus assumption is more reasonable for a very large out-of-plane thickness if the beam length is large.

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Cite this article: Guangbo HAO,Haiyang LI,Suzen KEMALCAN,Guimin CHEN,Jingjun YU. Understanding coupled factors that affect the modelling accuracy of typical planar compliant mechanisms[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 129-134

Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularity

DOI: 10.1007/s11465-016-0389-7

Fugui XIE,Xin-Jun LIU

Abstract: This study introduces a high-speed parallel robot with Schönflies motion. This robot exhibits a promising prospect in realizing high-speed pick-and-place manipulation for packaging production lines. The robot has four identical limbs and a single platform. Its compact structure and single-platform concept provides this robot with good dynamic response potential. A line graph method based on Grassmann line geometry is used to investigate the mobility characteristics of the proposed robot. A generalized Blanding rule is also introduced into this procedure to realize mutual conversion between the line graphs for motions and constraints. Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigated using both qualitative and quantitative approaches. Input and output transmission singularity indices are defined based on the reciprocal product in screw theory and the virtual coefficient by considering motion/force transmission performance. Thereafter, the singular loci of the proposed robot with specific geometric parameters are derived. The mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study are helpful in developing the robot.

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Cite this article: Fugui XIE,Xin-Jun LIU. Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularity[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 135-143

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

DOI: 10.1007/s11465-016-0391-0

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Abstract: A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three-dimensional model is elaborated in SolidWorks® environment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS® environment with the aims of characterizing and evaluating the dynamic walking performance of the proposed design. Simulation results show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on flat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

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Cite this article: Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE. A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 144-158

Eversible duoprism mechanism

DOI: 10.1007/s11465-016-0398-6

Ruiming LI,Yan-An YAO

Abstract: In this study, a novel duoprism mechanism that demonstrates a fascinating eversion motion is developed. The mechanism comprises three scalable platforms and nine retractable limbs and is constructed by inserting prismatic and revolute joints into the edges and vertices of the duoprism, respectively. According to mobility and kinematic analyses, the mechanism has five degrees of freedom. Six inputs, including a redundant one, are required to overcome singularity and achieve an eversion motion. In the eversion motion, three platforms expand/contract synchronously, and the mechanism continuously turns inside out. The detailed gaits of eversion motion along an ellipse and a circle after a cycle are illustrated with two examples. A kinematic simulation is conducted, and a manual prototype is fabricated to verify the feasibility of the eversible duoprism mechanism.

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Cite this article: Ruiming LI,Yan-An YAO. Eversible duoprism mechanism[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 159-169

Design and simulation of a cable-pulley-based transmission for artificial ankle joints

DOI: 10.1007/s11465-016-0383-0

Huaxin LIU,Marco CECCARELLI,Qiang HUANG

Abstract: In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

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Cite this article: Huaxin LIU,Marco CECCARELLI,Qiang HUANG. Design and simulation of a cable-pulley-based transmission for artificial ankle joints[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 170-183

Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

DOI: 10.1007/s11465-016-0385-y

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

Abstract: This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snap-through and the single joint hyperflexion, which are the two breakdowns most frequently observed during experimentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.

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Cite this article: Francesco PENTA,Cesare ROSSI,Sergio SAVINO. Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 184-194

Strategy for robot motion and path planning in robot taping

DOI: 10.1007/s11465-016-0390-1

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDéN,Victor MALMGREN

Abstract: Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.

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Cite this article: Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDéN,Victor MALMGREN. Strategy for robot motion and path planning in robot taping[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 195-203

Vibration suppression of speed-controlled robots with nonlinear control

DOI: 10.1007/s11465-016-0380-3

Paolo BOSCARIOL,Alessandro GASPARETTO

Abstract: In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

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Cite this article: Paolo BOSCARIOL,Alessandro GASPARETTO. Vibration suppression of speed-controlled robots with nonlinear control[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 204-212

Convergence performance comparisons of PID, MRAC, and PID+MRAC hybrid controller

DOI: 10.1007/s11465-016-0386-x

Dan ZHANG,Bin WEI

Abstract: This study proposes a hybrid controller by combining a proportional-integral-derivative (PID) control and a model reference adaptive control (MRAC), which named as PID+MRAC controller. The convergence performances of the PID control, MRAC, and hybrid PID+MRAC are also compared. Through the simulation in Matlab, the results show that the convergence speed and performance of the MRAC and the PID+MRAC controller are better than those of the PID controller. In addition, the convergence performance of the hybrid control is better than that of the MRAC control.

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Cite this article: Dan ZHANG,Bin WEI. Convergence performance comparisons of PID, MRAC, and PID+MRAC hybrid controller[J]. Frontiers of Mechanical Engineering, 2016. 11(2): 213-217

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