Articles | Volume 15, issue 2
https://doi.org/10.5194/ms-15-587-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-15-587-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
24 Oct 2024
Research article |
| 24 Oct 2024
| 24 Oct 2024
Inverse dynamics and inertia coupling analysis of a parallel mechanism with parasitic motions and redundant actuations
Chen Cheng
CORRESPONDING AUTHOR
Lab of Mechatronics, Xi'an College of Technology, 710025 Xi'an, China
Xiaojing Yuan
Lab of Mechatronics, Xi'an College of Technology, 710025 Xi'an, China
Yenan Li
Lab of Mechatronics, Xi'an College of Technology, 710025 Xi'an, China
Fanqi Zeng
Lab of Mechatronics, Xi'an College of Technology, 710025 Xi'an, China
Related subject area
Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
A linkage-type self-adaptive deformable tracked mechanism based on the six-bar mechanism
Research on 3D information collection path planning for hyper-redundant space robots (HSRs)
Design principles and kinematic analysis of a novel spherical 2-degree-of-freedom (DOF) parallel mechanism
Stability analysis and control method of a variable structure detection robot for underground rescue
Fault identification of the vehicle suspension system based on binocular vision and kinematic decoupling
Meshing stiffness characteristics of modified variable hyperbolic circular-arc-tooth-trace cylindrical gears
Gravity compensation and output data decoupling of a novel six-dimensional force sensor
A replaceable-component method to construct single-degree-of-freedom multi-mode planar mechanisms with up to eight links
Optimal design and experiments of a novel bobbin thread-hooking mechanism with RRSC (revolute–revolute–spherical–cylindrical) spatial four-bar linkage
Dynamic modeling and performance analysis of the 2PRU-PUU parallel mechanism
Development of a flexible endoscopic robot with autonomous tracking control ability using machine vision and deep learning
Modeling and control system experiment of a novel series three-axis stable platform
Design and obstacle-crossing analysis of a four-link rocker-suspension planetary exploration robot
A convolutional neural-network-based diagnostic framework for industrial bearing
Design and analysis of a dual-rope crawler rope-climbing robot
Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains
Motion planning and control strategy of a cable-driven body weight support gait training robot
Optimal resource allocation method and fault-tolerant control for redundant robots
Ellipsoid contact analysis and application in the surface conjugate theory of face gears
Adaptive chaos control of a humanoid robot arm: a fault-tolerant scheme
Kinematic and dynamic characteristics' analysis of a scissor multi-rod ring deployable mechanism
Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators
Dimensional synthesis of a spherical linkage crank slider mechanism for motion generation using an optimization algorithm
A versatile end effector for grabbing and spreading of flaky deformable object manipulation
Design and kinematics of a lightweight cruciform continuum robot
Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism
Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism
Dynamic modeling and vibration characteristics analysis of parallel antenna
A real-time and accurate detection approach for bucket teeth falling off based on improved YOLOX
Research on structural parameters and kinematic properties of a drill-in granary grain condition detector
Surface modification and tooth contact analysis of variable hyperbolic circular-arc-tooth-trace cylindrical gears
Analysis of the coaxiality–geometric hysteresis model of a rotate vector reducer based on Ansys Adams
Dynamic modeling and experiment of hind leg swimming of beaver-like underwater robot
Spring efficiency assessment and efficient use of spring methods of statically balanced planar serial manipulators with revolute joints only
Structural optimization of a pipe-climbing robot based on ANSYS
Design and analysis of a hollow-ring permanent magnet brake for robot joints
A novel compound topological invariant for isomorphism detection of planar kinematic chains
Varying rate adaptive hybrid position–impedance control for robot-assisted ultrasonic examination system
Design and kinematic analysis of a multifold rib modular deployable antenna mechanism
Design of a transrectal ultrasonic guided prostate low dose rate brachytherapy robot
A passive upper-limb exoskeleton for industrial application based on pneumatic artificial muscles
Innovative design method for planar mechanism configuration based on component similarity discrimination
Design and test of a positioning system for a greenhouse electric micro-tiller based on ultra-wideband
A novel flying–walking power line inspection robot and stability analysis hanging on the line under wind loads
Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel
Kinematic and dynamic accuracy of spherical mechanisms
Design and analysis of a six-wheeled companion robot with mechanical obstacle-overcoming adaptivity
Precise mathematical model for the ratchet tooth root bending stress
Swing control for a three-link brachiation robot based on sliding-mode control on irregularly distributed bars
Analysis and compensation control of passive rotation on a 6-DOF electrically driven Stewart platform
Kaisheng Zhang, Xuemin Sun, Ruiming Li, Zhiguo Yu, and Biao Yu
Mech. Sci., 15, 541–553, https://doi.org/10.5194/ms-15-541-2024, https://doi.org/10.5194/ms-15-541-2024, 2024
Short summary
Short summary
This paper designs a linkage-type self-adaptive deformable tracked mechanism module in accordance with the multi-loop mechanism. The mechanism has two modes of forward movement and reverse movement, including deformable tracked-type and rocker arm-type, respectively. This kind of mechanism has very good terrain adaptability and can deform through passive self-adaptive obstacles, which has certain application prospects in special terrains.
Guodong Qin, Haoran Zhang, Lei Zheng, Shijie Liu, Quan Chen, Haimin Hu, Deyang Zhang, Yong Cheng, Congju Zuo, and Aihong Ji
Mech. Sci., 15, 531–539, https://doi.org/10.5194/ms-15-531-2024, https://doi.org/10.5194/ms-15-531-2024, 2024
Short summary
Short summary
This paper proposes a path-planning method for 3D information collection on the space station surface via a hyper-redundant space robot (HSR). Based on the active information collection method, the collision-free viewpoint trajectory of the space station surface can be planned. The path planning of the space station surface information collection can then be realized by importing the space station model data and performing weight initialization, stochastic search, and continuous optimization.
Xuechan Chen, Chao Xin, Zhen Zhang, Yu Guo, An Yin, and Ziming Chen
Mech. Sci., 15, 473–486, https://doi.org/10.5194/ms-15-473-2024, https://doi.org/10.5194/ms-15-473-2024, 2024
Short summary
Short summary
In this paper, the design principle of the symmetrical spherical parallel mechanism (SPM) is obtained by analyzing the conditions for symmetrical motion of the mechanism. A series of symmetrical SPMs is designed based on the constraint force provided by the branches. The SPM can realize continuous rotation around any line on the mid-plane that passes through the rotation center of the spherical mechanism. This feature has great potential for application in fields such as rehabilitation robotics.
Hai-bo Tian, Ao Wang, Maolin Lu, Meiting Zhang, Zenan Zhang, Wencai Zhang, and Xin Su
Mech. Sci., 15, 487–500, https://doi.org/10.5194/ms-15-487-2024, https://doi.org/10.5194/ms-15-487-2024, 2024
Short summary
Short summary
In this paper, a variable structure detection robot for underground rescue is designed for the rescue environment of a 225 mm diameter borehole, combined with the leading arm and the deformable tracks. A stability criterion based on the contact force between the robot and the road surface (contact force stability criterion, CFSC) is proposed, and an adaptive stability control system of the robot is established in combination with a neural network.
Hong Wei, Fulong Liu, Guoxing Li, Xingchen Yun, Muhammad Yousaf Iqbal, and Fengshou Gu
Mech. Sci., 15, 445–460, https://doi.org/10.5194/ms-15-445-2024, https://doi.org/10.5194/ms-15-445-2024, 2024
Short summary
Short summary
Vibration measurement technology based on binocular vision and kinematic decoupling is a new method which can effectively extract vertical vibration signal. The proposed method has the advantages of real-time measurement and low cost and overcomes the limitations of traditional measurement methods in error accumulation.
Dengqiu Ma, Bing Jiang, Zhenhuan Ye, and Yongping Liu
Mech. Sci., 15, 395–405, https://doi.org/10.5194/ms-15-395-2024, https://doi.org/10.5194/ms-15-395-2024, 2024
Short summary
Short summary
In the present paper, study on meshing stiffness characteristics of the modified variable hyperbolic circular-arc-tooth-trace cylindrical gears was proposed. The modified tooth surface equation was deduced, and a 3D model was developed. The load tooth contact analysis (LTCA) model was developed. The meshing stiffness calculation method was proposed and verified by the finite-element calculation. The influence of the load and modification parameters on the stiffness was investigated.
Yongli Wang, Ke Jin, Xiao Li, Feifan Cao, and Xuan Yu
Mech. Sci., 15, 367–383, https://doi.org/10.5194/ms-15-367-2024, https://doi.org/10.5194/ms-15-367-2024, 2024
Short summary
Short summary
A new type of parallel six-dimensional force sensor was developed, and artificial neural network technology was used to achieve decoupling of the sensor output data. In addition, a gravity compensation method based on CAD variable geometry is proposed to optimize the performance of the six-dimensional force sensor.
Liangyi Nie, Huafeng Ding, Andrés Kecskeméthy, Kwun-Lon Ting, Shiming Li, Bowen Dong, Zhengpeng Wu, Wenyan Luo, and Xiaoyan Wu
Mech. Sci., 15, 331–351, https://doi.org/10.5194/ms-15-331-2024, https://doi.org/10.5194/ms-15-331-2024, 2024
Short summary
Short summary
Using loop equations and branch graphs, we propose a method to construct single-degree-of-freedom (single-DOF) multi-mode-planar mechanisms (MMPMs), replacing links or components of the singular configuration of planar mechanisms with multi-mode modules. The method is straightforward, visible, and widely applicable to single-DOF MMPMs. We give new design direction and powerful design guidance for the design of MMPMs, along with the available configuration and more choice for the application.
Bingliang Ye, Xu Wang, Mingfeng Zheng, Pengbo Ye, and Weiwei Hong
Mech. Sci., 15, 269–279, https://doi.org/10.5194/ms-15-269-2024, https://doi.org/10.5194/ms-15-269-2024, 2024
Short summary
Short summary
In order to solve the problem that an embroidery machine generally uses a straight needle and rotary shuttle to form a lock stitch, which results in the low supply of bobbin thread and frequent bobbin changes, a bobbin thread-hooking mechanism with spatial four-bar linkage is proposed which can achieve a continuous supply of bobbin thread. We provide a reference for solving this embroidery machine practical problem with a spatial four-bar mechanism optimal design method.
Tianze Sun, Wei Ye, Chao Yang, and Fengli Huang
Mech. Sci., 15, 249–256, https://doi.org/10.5194/ms-15-249-2024, https://doi.org/10.5194/ms-15-249-2024, 2024
Short summary
Short summary
The main contribution of this paper is to establish the dynamic model of the reconfigurable parallel mechanism, a versatile robotic system capable of adapting its configuration to different tasks. The dynamic model facilitates the analysis of the dynamic performance of the mechanism. This comprehensive dynamic model serves as a valuable tool for control algorithm development and the performance optimization of reconfigurable parallel mechanisms in diverse applications.
Sen Qian, Jianxi Zhang, Zongkun Pei, Xiantao Sun, and Zhe Wu
Mech. Sci., 15, 223–236, https://doi.org/10.5194/ms-15-223-2024, https://doi.org/10.5194/ms-15-223-2024, 2024
Short summary
Short summary
A flexible endoscopic robot is designed to solve the problem that it is difficult to maintain a stable visual field in traditional endoscopic surgery. The main contribution of this research is to realize the motion planning and primary–secondary teleoperation control of the flexible endoscope robot under remote center motion constraints on the basis of its structure and select the appropriate deep learning algorithm to complete the autonomous tracking function.
Da Song, Xinlei Xiao, Ji Ma, and Lixun Zhang
Mech. Sci., 15, 209–221, https://doi.org/10.5194/ms-15-209-2024, https://doi.org/10.5194/ms-15-209-2024, 2024
Short summary
Short summary
In this paper, a novel series three-axis stable platform (STSP) is proposed, and its azimuth angle structure, pitch angle structure, roll angle structure, system control scheme, and control strategy are designed. The main function of this stable platform is to isolate the influence of installation carrier movement or external interference and to provide a stable working environment for equipment installed on the stable platform by establishing a stable reference plane.
Zhen Song, Zirong Luo, and Huixiang Xie
Mech. Sci., 15, 137–157, https://doi.org/10.5194/ms-15-137-2024, https://doi.org/10.5194/ms-15-137-2024, 2024
Short summary
Short summary
There are still many meteorite craters and boulders on the surface of Mars and the Moon that cannot be accessed by existing planetary exploration robots. To solve this issue, this paper proposes a four-link rocker-suspension planetary exploration robot that has both the reliability and low complexity of wheeled rovers and competent terrain adaptability and obstacle-crossing performance.
Bowen Yu and Chunli Xie
Mech. Sci., 15, 87–98, https://doi.org/10.5194/ms-15-87-2024, https://doi.org/10.5194/ms-15-87-2024, 2024
Short summary
Short summary
In this study, we introduce an innovative diagnostic framework tailored to industrial bearings that facilitates automated feature extraction and enables end-to-end fault detection. Our validation across multiple bearing vibration datasets confirms the framework's superiority in handling complex and non-stationary signals in industrial environments.
Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, and Juan Huang
Mech. Sci., 15, 31–45, https://doi.org/10.5194/ms-15-31-2024, https://doi.org/10.5194/ms-15-31-2024, 2024
Short summary
Short summary
A rope-climbing robot (RCR) can reciprocate on a rope. To address poor load capacity and adaptability, this study designs a dual-rope crawler type RCR for use as a new type of transportation equipment in hilly, mountainous, and plateau areas. The crawler rope-climbing mechanism is a combination of a chain drive and the rope-climbing foot. With overhead rope parabolic theory to kinematically analyze the RCR system, the robot motion trajectory model and tilt angle equation are established.
Yu Rong, Xingchao Zhang, Tianci Dou, and Hongbo Wang
Mech. Sci., 14, 567–577, https://doi.org/10.5194/ms-14-567-2023, https://doi.org/10.5194/ms-14-567-2023, 2023
Short summary
Short summary
This paper presents a new method to design a new mechanism with fewer moving joints and greater bearing capacity. These machinery-manufacturing, parts-processing, and other fields have a wide range of application prospects.
Tao Qin, Qianpeng Wang, Wei Su, Chao Wei, Yanduo Zhang, and Jianwei Zhang
Mech. Sci., 14, 413–427, https://doi.org/10.5194/ms-14-413-2023, https://doi.org/10.5194/ms-14-413-2023, 2023
Short summary
Short summary
A cable-driven body weight support gait training robot (C-BWSGTR) was designed to help provide patients with partial body weight support and a stable walking driving force to assist gait rehabilitation training. Overall configuration, kinematic modeling, and motion planning were carried out, and a position servo composite control strategy was designed. Simulation analysis and the prototype experiment verified that the designed control strategy met the requirements of the system.
Yu Rong, Tianci Dou, and Xingchao Zhang
Mech. Sci., 14, 399–412, https://doi.org/10.5194/ms-14-399-2023, https://doi.org/10.5194/ms-14-399-2023, 2023
Short summary
Short summary
Resource coordination and allocation strategies are proposed to reduce the probability of failure by aiming at the problem that the robot cannot continue to work after joint failure. Taking the planar 4R redundant robot as an example, the algorithm control is compared. Based on reasonable modeling and physical verification, the results show that the method of optimal resource coordination and allocation is effective.
Xiaomeng Chu, Yali Liu, and Hong Zeng
Mech. Sci., 14, 305–314, https://doi.org/10.5194/ms-14-305-2023, https://doi.org/10.5194/ms-14-305-2023, 2023
Short summary
Short summary
In the design and processing of face gears, it is not necessary to accurately express the tooth surface with an equation, since it will be difficult to analyze some of the most important and practical features, such as the induced curvature relationship. In this regard, this paper uses the discrete curvature relationship of a spatial gradient curvature ellipsoid to describe the space meshing surface, and it establishes a set of discrete digital conjugate surface meshing principles.
Said Ghani Khan
Mech. Sci., 14, 209–222, https://doi.org/10.5194/ms-14-209-2023, https://doi.org/10.5194/ms-14-209-2023, 2023
Short summary
Short summary
Humanoid robots are stepping into the social environment. However, smooth and safe operation is still a challenge. Faults in robotics, whether mechanical or electrical, are still inevitable. In this work, we present a fault-tolerant scheme for a humanoid robotic arm, to minimize the damage if a joint fails during normal operation or during human–robot interaction or cooperation.
Bo Han, Yuxian Yao, Yuanzhi Zhou, Yundou Xu, Jiantao Yao, and Yongsheng Zhao
Mech. Sci., 14, 193–207, https://doi.org/10.5194/ms-14-193-2023, https://doi.org/10.5194/ms-14-193-2023, 2023
Short summary
Short summary
A double-layer ring truss deployable antenna mechanism is proposed, which is connected by a scissor-like structure. The degrees of freedom, six-dimensional velocity, and acceleration are calculated using spiral theory, and the dynamic model is established. Simulation software is used to verify the simulation, and the prototype is made at a reduced scale. Because the satellite antenna is very important, we decided to study the supporting frame.
Qiaolian Xie, Qiaoling Meng, Wenwei Yu, Rongna Xu, Zhiyu Wu, Xiaoming Wang, and Hongliu Yu
Mech. Sci., 14, 159–170, https://doi.org/10.5194/ms-14-159-2023, https://doi.org/10.5194/ms-14-159-2023, 2023
Short summary
Short summary
This paper presents a novel soft bionic elbow exoskeleton based on shape metal alloy (SMA) actuators (Sobee-SMA). The exoskeleton adopts a bionic design, combining active deformation material SMA and high elastic material rubber band to simulate the contraction and relaxation of the elbow skeletal muscle. According to the static analysis of the human–exoskeleton coupling model and experiments, the exoskeleton provides elbow-assisted motion and ensures the safety of the thermal heating process.
Wei Zhang, Zhen Liu, Wenrui Liu, Jianwei Sun, and He Lu
Mech. Sci., 14, 125–142, https://doi.org/10.5194/ms-14-125-2023, https://doi.org/10.5194/ms-14-125-2023, 2023
Short summary
Short summary
A new method to solve the motion generation problem of a spherical four-bar crank slider rigid-body guidance mechanism is introduced. According to the amplitude and phase of the position output and direction output of the mechanism, the method of establishing the mechanism output characteristic database is given. Then the solution method of size parameters is given. According to the database and solution method, the motion generation is realized.
Yuan Huan, Gongchang Ren, Xiangyu Su, and Weizhi Tian
Mech. Sci., 14, 111–123, https://doi.org/10.5194/ms-14-111-2023, https://doi.org/10.5194/ms-14-111-2023, 2023
Short summary
Short summary
A reconfigurable multi-link mechanism is proposed, and based on the multi-link mechanism and the roller fingertip structure, an end effector is designed to manipulate geometric soft fabrics. The working principle of the reconfigurable multi-link mechanism, the structure and grasping mode of the end effector are introduced in detail, and the kinematics analysis and simulation of the end effector are carried out.
Pan Zhou, Jiantao Yao, Hongyu Zhang, Xuanhao Zhang, Shuaiqi kong, and Kunming Zhu
Mech. Sci., 14, 99–109, https://doi.org/10.5194/ms-14-99-2023, https://doi.org/10.5194/ms-14-99-2023, 2023
Short summary
Short summary
Lightweight and stable continuum robot design is a challenge. We propose a 65 g continuum robot formed using cruciform-arranged elastic sheets. It has low coupling, better bending characteristics in the deformation direction, and a large load capacity in the non-deformation direction, providing a new configuration for lightweight and dexterous continuum robots. Its kinematics model accuracy is experimentally verified. Nucleic acid detection demonstration proves its dexterity and adaptability.
Da Song, Xinlei Xiao, Gang Li, Lixun Zhang, Feng Xue, and Lailu Li
Mech. Sci., 14, 19–32, https://doi.org/10.5194/ms-14-19-2023, https://doi.org/10.5194/ms-14-19-2023, 2023
Short summary
Short summary
The haptic interactive robot based on a cable-driven parallel mechanism studied in this paper is mainly used for interactive training between an astronaut and a virtual environment. This haptic interactive robot can accurately simulate the motion and mechanical characteristics of objects in a microgravity environment and can safely interact with astronauts.
Minghui Zhang and Yiming Su
Mech. Sci., 14, 1–13, https://doi.org/10.5194/ms-14-1-2023, https://doi.org/10.5194/ms-14-1-2023, 2023
Short summary
Short summary
A new type of wheel–leg deformation mechanism, based on an electromagnetic clutch and gear rack transmission mechanism, is designed for moving on complex terrain. The walking model is established to study the kinematics characteristics and obstacle-surmounting performance of the mechanism. The stability cone method is used to evaluate the rollover stability and anti-interference ability in order to ensure the normal operation of the mechanism.
Guoxing Zhang, Jianliang He, Jinwei Guo, and Xinlu Xia
Mech. Sci., 13, 1019–1029, https://doi.org/10.5194/ms-13-1019-2022, https://doi.org/10.5194/ms-13-1019-2022, 2022
Short summary
Short summary
The closed-form dynamics equation of the 1.8 m aperture parallel antenna is established. The relationship between the mechanism's natural frequency, displacement response, and resonance frequency is obtained. Based on the dynamic model, the closed-loop motion control strategy of the parallel antenna mechanism is established. The tracking error of the pitch and azimuth motion of the parallel antenna in the workspace is within ±0.05°.
Jinnan Lu and Yang Liu
Mech. Sci., 13, 979–990, https://doi.org/10.5194/ms-13-979-2022, https://doi.org/10.5194/ms-13-979-2022, 2022
Short summary
Short summary
Aiming at the potential safety problems caused by the looseness of bucket teeth of the electric shovel, we propose an improved YOLOX algorithm. After introducing the dilated CBAM, the deep separable convolution, and model compression, the mAP is decreased by 0.33 %, the detection speed is increased by 11.9 fps, and the model volume is reduced to 29.46 % of the YOLOX model. It provides a theoretical basis and technical support for the development of intelligent mines and mining intelligence.
Qiang Yin, Junpeng Yu, Shaoyun Song, Yonglin Zhang, Gang Zhao, Zhiqiang Hao, and Ao Hu
Mech. Sci., 13, 961–978, https://doi.org/10.5194/ms-13-961-2022, https://doi.org/10.5194/ms-13-961-2022, 2022
Short summary
Short summary
In order to store grain in large warehouses, a process is required that will prevent the effects of mildew and heat. Real-time monitoring of the grain status is needed. Using the information obtained from the monitoring system, corresponding measures were taken for the heating and mildew points in the grain pile. We proposed a drill which is a granary grain condition detector. It can be equipped with temperature, CO2, and humidity sensors and gather information by entering the grain pile.
Yongping Liu and Dengqiu Ma
Mech. Sci., 13, 909–920, https://doi.org/10.5194/ms-13-909-2022, https://doi.org/10.5194/ms-13-909-2022, 2022
Short summary
Short summary
Firstly, the tooth surface modification method based on the parabolic forming blade and cutter inclination was proposed. Next, the modified tooth surface equation was deduced and the 3D reconstruction of the modified tooth surface is realized. Then, the influence of modification parameters on tooth surface curvature characteristics was analysed. Finally, the tooth contact analysis model was established to discuss the influence of modification parameters on the elliptical contact area.
Yongming Liu, Lei Fu, Zhuanzhe Zhao, Qiang Ma, Yujian Rui, and Zhen Zhang
Mech. Sci., 13, 855–866, https://doi.org/10.5194/ms-13-855-2022, https://doi.org/10.5194/ms-13-855-2022, 2022
Short summary
Short summary
The coaxiality–geometric hysteresis model of the RV reducer transmission system is established, and the model is simulated and analyzed with Adams software. The results show that coaxiality is one of the main error factors affecting hysteresis. This research can provide a theoretical basis and reference materials for the measurement and design of RV reducer hysteresis, as well as the design of the RV reducer performance high-precision detection device and its adjustment mechanism.
Gang Chen, Zhenyu Wang, Jiajun Tu, and Donghai Wang
Mech. Sci., 13, 831–842, https://doi.org/10.5194/ms-13-831-2022, https://doi.org/10.5194/ms-13-831-2022, 2022
Short summary
Short summary
In the research and development process of underwater motion control of the beaver-like robot, the hind leg and tail are the main actuators. In order to estimate the driving force of the robot autonomously during underwater movement, we propose this model, which can quickly and easily infer the force of the hind leg on the body. The correctness of this model is verified by experiments and simulations.
Chia-Wei Juang, Chi-Shiun Jhuang, and Dar-Zen Chen
Mech. Sci., 13, 817–830, https://doi.org/10.5194/ms-13-817-2022, https://doi.org/10.5194/ms-13-817-2022, 2022
Short summary
Short summary
This paper proposes a spring efficiency assessment and the efficient use of springs methods for a static spring-balanced manipulator. Gravity is balanced by springs; however, it also contains counter-effects between springs. Conceptually, with fewer counter-effects between springs, there is less burden on the spring system, which means that the springs are used more efficiently. Through adjustment of the springs' attachment and parameters, a method to use springs efficiently is developed.
Yi Zheng, Minghua Liu, Baoshun Li, Guoqing Ma, and Maohua Xiao
Mech. Sci., 13, 725–733, https://doi.org/10.5194/ms-13-725-2022, https://doi.org/10.5194/ms-13-725-2022, 2022
Short summary
Short summary
In order to improve the structural performance of the out-of-pipe pipe-climbing robot, the out-of-pipe pipe-climbing robot is optimized. The structure and size of the robot was optimized. Static and modal analyses were then performed on key robot components and ANSYS was used for topology optimization. It was found the weight of the optimized frame and clamping arm were respectively reduced by 24 % and 20 %, and the maximum stress was respectively reduced by 46 % and 20 %.
Ruoyu Tan, Jieji Zheng, Bin Yu, Baoyu Li, Dapeng Fan, and Xin Xie
Mech. Sci., 13, 687–699, https://doi.org/10.5194/ms-13-687-2022, https://doi.org/10.5194/ms-13-687-2022, 2022
Short summary
Short summary
A novel hollow-ring permanent magnet brake integrated in robot joints is proposed, which allows the brake to require much less axial space and provides more than 1.5 times braking torque for the same volume as the conventional electromagnetic-spring friction brake. A coupled dynamics model of the proposed brake is developed from machine-electric-magnetic aspects. The 3D model of the brake is simulated through finite-element software. The theoretical models are verified through experiments.
Yingxian Wang, Rongjiang Cui, and Jinxi Chen
Mech. Sci., 13, 585–591, https://doi.org/10.5194/ms-13-585-2022, https://doi.org/10.5194/ms-13-585-2022, 2022
Short summary
Short summary
This paper use the topological characteristic constants for isomorphism identification, such as the power value sequence (PVS), least distance matrix sequence (LDMS), and loop number (LN). The fourth PVS, the LDMS, and the LN are compared and arranged in descending order, forming a strong complementary chain. Our results show that solving the problem of the isomorphism identification of the kinematic chain (KC) based on graph theory definition has no advantage in efficiency.
Zhanxin Xie and Zheng Yan
Mech. Sci., 13, 559–575, https://doi.org/10.5194/ms-13-559-2022, https://doi.org/10.5194/ms-13-559-2022, 2022
Short summary
Short summary
Robotic ultrasonic scanning needs to apply an appropriate force for a long time during the acquisition process. Excessive contact force may lead to deformation and even hurt the patient, while insufficient force would lead to poor image quality. We proposed a varying rate hybrid position–impedance control strategy, which can partly play the role of an ultrasound sonographer and serve as a medical assistant to reduce their workload.
Dake Tian, Haiming Gao, Lu Jin, Rongqiang Liu, Yu Zhang, Chuang Shi, and Jiewei Xu
Mech. Sci., 13, 519–533, https://doi.org/10.5194/ms-13-519-2022, https://doi.org/10.5194/ms-13-519-2022, 2022
Short summary
Short summary
Space deployable antenna is a new type of space structure, and one of the key payloads of spacecraft, which is widely used in mobile communication, navigation and remote sensing, deep space exploration, military reconnaissance, and other fields of science and technology and national defense. Aiming at the urgent need for the development of space deployable antenna with large aperture and a high storage rate, a new configuration of a multifold rib modular deployable antenna mechanism is proposed.
Xuesong Dai, Yongde Zhang, Jingang Jiang, Bing Li, and Sihao Zuo
Mech. Sci., 13, 399–409, https://doi.org/10.5194/ms-13-399-2022, https://doi.org/10.5194/ms-13-399-2022, 2022
Short summary
Short summary
Transrectal prostate brachytherapy (BT) can effectively treat prostate cancer. During the operation, doctors need to hold the ultrasound probe for repeated adjustments, which makes it difficult to ensure the efficiency, accuracy, and safety of the operation. We designed an 11 DOF (degrees of freedom) active and passive transrectal BT robot based on the analysis of the transrectal prostate BT process.
Maria Paterna, Stefania Magnetti Gisolo, Carlo De Benedictis, Giovanni Gerardo Muscolo, and Carlo Ferraresi
Mech. Sci., 13, 387–398, https://doi.org/10.5194/ms-13-387-2022, https://doi.org/10.5194/ms-13-387-2022, 2022
Short summary
Short summary
We present a novel exoskeleton based on deformable pneumatic actuators, known as McKibben muscles or artificial muscles. The aim of this system is to support a worker during overhead tasks, in which they need to lift the arms and hold that position for a long time. Simulations have been performed, starting from a mathematical model of the exoskeleton and of the artificial muscle. A first architecture of the complete device is also presented.
Weiwei Hong, Jinxi Chen, Bingliang Ye, and Rongjiang Cui
Mech. Sci., 13, 353–359, https://doi.org/10.5194/ms-13-353-2022, https://doi.org/10.5194/ms-13-353-2022, 2022
Short summary
Short summary
To obtain all mechanical schemes, scholars in this field have proposed an innovative design method using kinematic chain configuration synthesis. However, the existing innovative design method easily produces redundant design schemes. We analyze the similar component discrimination method for mechanisms from the perspective of graph theory and apply it to the specialization of topological graphs to solve the problem of redundant design schemes.
Ying Lin, Qian Chen, Haijun Zhang, Ye Ma, Wenlian Zeng, Guojun Wei, Hongxiang Wang, and Maohua Xiao
Mech. Sci., 13, 225–237, https://doi.org/10.5194/ms-13-225-2022, https://doi.org/10.5194/ms-13-225-2022, 2022
Short summary
Short summary
A positioning system for ultra-wideband (UWB) electric micro-tillers suitable for complex greenhouse environments was designed as the basis for realising unmanned micro-tillers to address the problem of frequent safety accidents of existing micro-tillers. The positioning system of the greenhouse electric micro-tiller designed in this paper demonstrates a stable performance and positioning accuracy to meet the needs of greenhouse rotary tillage operations.
Xinyan Qin, Bo Jia, Jin Lei, Jie Zhang, Huidong Li, Bo Li, and Zhaojun Li
Mech. Sci., 13, 257–273, https://doi.org/10.5194/ms-13-257-2022, https://doi.org/10.5194/ms-13-257-2022, 2022
Short summary
Short summary
Power line inspection not only wastes human and material resources, but also has a high-risk factor for manual inspection of power lines. Therefore, based on previous researchers, we designed a novel power line inspection robot. We also investigate walking stability of the robot on the line when encountering working conditions with crossing wind, since the power line is about 50–60 m from the ground and the inspection robots are greatly affected by wind.
Luis Daniel Filomeno Amador and Eduardo Castillo Castañeda
Mech. Sci., 13, 31–39, https://doi.org/10.5194/ms-13-31-2022, https://doi.org/10.5194/ms-13-31-2022, 2022
Short summary
Short summary
In mobile robot development, the designer focuses on the novelty of the final element, leaving out the mobile platform evolution; the chief problem with wheeled mobile robots is the restricted movement in the workspace due to the necessity for the system's reorientation. Our goal is to realize a wheeled mobile robotic system that can generate an omnidirectional displacement without the need to redirect the wheels, thus guaranteeing continuous operation.
Dinh Tung Vo, Sergey Kheylo, and Van Quoc Nguyen
Mech. Sci., 13, 23–30, https://doi.org/10.5194/ms-13-23-2022, https://doi.org/10.5194/ms-13-23-2022, 2022
Short summary
Short summary
The proposed approach to assessing the kinematic accuracy allows one to determine the deviations in the output link using the theory of accuracy. This allows one to determine the deviations in the output link at any point in the working area and propose constructive solutions for its compensation. This approach to determining the positioning error makes it possible to calculate the deviations in the output link for similar mechanisms of a parallel structure.
Zhen Song, Zirong Luo, Guowu Wei, and Jianzhong Shang
Mech. Sci., 12, 1115–1136, https://doi.org/10.5194/ms-12-1115-2021, https://doi.org/10.5194/ms-12-1115-2021, 2021
Short summary
Short summary
It is more efficient and safe to use a sub robot to replace the mother robot to perform space exploration tasks full of challenges. A novel three-rocker-arm six-wheeled robot with adaptive obstacle-crossing capability was designed to form a sub-parent exploration system with a large robot and to perform exploration tasks. A prototype of the robot is developed, and the experiment results show that the robot can maintain stability in rugged terrain and has excellent ability to cross obstacles.
Chao Liu, Ning Ding, Jingsong Duan, Lili Zhou, Shanfu Cui, Shuna Jiang, and Aofei Li
Mech. Sci., 12, 1105–1113, https://doi.org/10.5194/ms-12-1105-2021, https://doi.org/10.5194/ms-12-1105-2021, 2021
Short summary
Short summary
In this paper, we use the folded section hypothesis to determinate the ratchet tooth root bending stress and provide a normal mathematical model to calculate it. This model has been proved by the finite element analysis method and the ratchet experiment. It is recommended that this model be used to predict the ratchet tooth root bending stress in the ratchet design process.
Zhiguo Lu, Guoshuai Liu, Haibin Zhao, Ruchao Wang, and Chong Liu
Mech. Sci., 12, 1073–1081, https://doi.org/10.5194/ms-12-1073-2021, https://doi.org/10.5194/ms-12-1073-2021, 2021
Short summary
Short summary
This paper designs a type of bionic-gibbon robot with three links and two grippers. We apply the sliding-mode control to the swing motion of the robot. The bionic-gibbon robot can complete continuous brachiation motion on the irregularly distributed bars. Besides, compared with the two-link structure, the three-link structure introduced in this paper improves the swing efficiency and increases the swing height of the robot.
Qitao Huang, Peng Wang, Bowen Li, and Qingjun Yang
Mech. Sci., 12, 1027–1036, https://doi.org/10.5194/ms-12-1027-2021, https://doi.org/10.5194/ms-12-1027-2021, 2021
Short summary
Short summary
The electrically driven Stewart platform (EDSP) is used widely. However, the passive rotation (PR) on driven branch chains can generate posture error on the end effector. Compensation control strategy is designed to avoid effects of PR on posture accuracy of the 6-DOF (degrees of freedom) EDSP based on calculation and analysis. The validity of analysis and the effectiveness of the compensation method used to improving posture accuracy are proven by simulation and experiments on a 6-DOF EDSP.
Cited articles
Abo-Shanab, R.: Dynamic modeling of parallel manipulators based on Lagrange-D'Alembert formulation and Jacobian/Hessian matrices, Multibody Syst. Dyn., 48, 403–426, https://doi.org/10.1007/s11044-019-09705-0, 2020.
Bellakehal, S., Andreff, N., Mezouar, Y., and Tadjine, M.: Vision/force control of parallel robots, Mech. Mach. Theory, 46, 1376–1395, https://doi.org/10.1016/j.mechmachtheory.2011.05.010, 2011.
Bi, Z. and Kang, B.: An Inverse Dynamic Model of Over-Constrained Parallel Kinematic Machine Based on Newton-Euler Formulation, J. Dyn. Syst.-T. ASME, 136, 041001, https://doi.org/10.1115/1.4026533, 2014.
Carbonari, L., Battistelli, M., Callegari, M., and Palpacelli, M.-C.: Dynamic modelling of a 3-CPU parallel robot via screw theory, Mech. Sci., 4, 185–197, https://doi.org/10.5194/ms-4-185-2013, 2013.
Carretero, J., Podhorodeski, R., Nahon, M., and Gosselin, C.: Kinematic analysis and optimization of a new three degree-of-freedom spatial parallel manipulator, J. Mech. Design, 122, 17–24, https://doi.org/10.1115/1.533542, 2000.
Carricato, M. and Gosselin, C.: On the Modeling of Leg Constraints in the Dynamic Analysis of Gough/Stewart-Type Platforms, J. Comput. Nonlin. Dyn., 4, 011008, https://doi.org/10.1115/1.3007974, 2008.
Chen, B., Dhupia, J., Morgenstern, M., Bronlund, J., and Xu, W.: Development of a Biomimetic Masticating Robot for Food Texture Analysis, J. Mech. Robot., 14, 021012, https://doi.org/10.1115/1.4052379, 2021.
Chen, C. and Liao, T.: Trajectory planning of parallel kinematic manipulators for the maximum dynamic load-carrying capacity, Meccanica, 51, 1653–1674, 2016.
Chen, G., Peng, W., Wang, Z., Tu, J., Hu, H., Wang, D., Cheng, H., and Zhu, L.: Modeling of swimming posture dynamics for a beaver-like robot, Ocean Eng., 279, 114550, https://doi.org/10.1016/j.oceaneng.2023.114550, 2023.
Chen, G., Xu, Y., Yang, X., Hu, H., Cheng, H., Zhu, L., Zhang, J., Shi, J., and Chai, X.: Target tracking control of a bionic mantis shrimp robot with closed-loop central pattern generators, Ocean Eng., 297, 116963, https://doi.org/10.1016/j.oceaneng.2024.116963, 2024.
Chen, M., Zhang, Q., Qin, X., and Sun, Y.: Kinematic, dynamic, and performance analysis of a new 3-DOF over-constrained parallel mechanism without parasitic motion, Mech. Mach. Theory, 162, 104365, https://doi.org/10.1016/j.mechmachtheory.2021.104365, 2021.
Cheng, C., Xu, W., and Shang, J.: Kinematics, stiffness and natural frequency of a redundantly actuated masticatory robot constrained by two point-contact higher kinematic pairs, IEEE/RSJ International Conference on Intelligent Robots and Systems, 28 September–2 October 2015, Hamburg, Germany, IEEE, 963–970, https://doi.org/10.1109/IROS.2015.7353487, 2015.
Cibicik, A. and Egeland, O.: Dynamic modelling and force analysis of a knuckle boom crane using screw theory, Mech. Mach. Theory, 133, 179–194, https://doi.org/10.1016/j.mechmachtheory.2018.10.019, 2019.
Corbel, D., Gouttefarde, M., Company, O., and Pierrot, F.: Actuation Redundancy as a Way to Improve the Acceleration Capabilities of 3T and 3T1R Pick-and-Place Parallel Manipulators, J. Mech. Robot., 2, 041002, https://doi.org/10.1115/1.4002078, 2010.
Díaz-Rodríguez, M., Carretero, J. A., and Bautista-Quintero, R.: Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs, Mech. Sci., 7, 9–17, https://doi.org/10.5194/ms-7-9-2016, 2016.
Eskandary, P. and Angeles, J.: The dynamics of a parallel Schönflies-motion generator, Mech. Mach. Theory, 119, 119–129, https://doi.org/10.1016/j.mechmachtheory.2017.09.006, 2018.
Germain, C., Briot, S., Caro, S., and Wenger, P.: Natural frequency computation of parallel robots, J. Comput. Nonlin. Dyn., 10, 021004, https://doi.org/10.1115/1.4028573, 2015.
Gosselin, C.: Parallel Computational Algorithms for the Kinematics and Dynamics of Planar and Spatial Parallel Manipulators, J. Dyn. Syst.-T. ASME, 118, 22–28, https://doi.org/10.1115/1.2801147, 1996.
Gosselin, C. and Schreiber, T.: Redundancy in Parallel Mechanisms: A Review, Appl. Mech. Rev., 70, 010802, https://doi.org/10.1115/1.4038931, 2018.
Guo, F., Cheng, G., and Pang, Y.: Explicit dynamic modeling with joint friction and coupling analysis of a 5-DOF hybrid polishing robot, Mech. Mach. Theory, 167, 104509, https://doi.org/10.1016/j.mechmachtheory.2021.104509, 2022.
Han, J., Wang, P., Dong, F., Zhao, X., and Chen, S.: Optimal design of adaptive robust control for a planar two-DOF redundantly actuated parallel robot, Nonlinear Dynam., 105, 2341–2362, https://doi.org/10.1007/s11071-021-06739-y, 2021.
Hernández, J., Chemori, A., Sierra, H., and Anieva, J.: A new solution for machining with RA-PKMs: Modelling, control and experiments, Mech. Mach. Theory, 150, 103864, https://doi.org/10.1016/j.mechmachtheory.2020.103864, 2020.
Koolstra, J. H.: Dynamics of the human masticatory system, Crit. Rev. Oral Biol. M., 13, 366–376, https://doi.org/10.1177/154411130201300406, 2002.
Li, Y., Xi, F., Finistauri, A., and Behdinan, K.: Dynamic Modeling and Analysis of a Circular Track-Guided Tripod, J. Comput. Nonlin. Dyn., 5, 011005, https://doi.org/10.1115/1.4000313, 2009.
Liang, D., Song, Y., Sun, T., and Jin, X.: Rigid-flexible coupling dynamic modeling and investigation of a redundantly actuated parallel manipulator with multiple actuation modes, J. Sound Vib., 403, 129–151, 2017.
Liu, Z., Tang, X., Shao, Z., and Wang, L.: Dimensional optimization of the Stewart platform based on inertia decoupling characteristic, Robotica, 34, 1151–1167, https://doi.org/10.1017/S0263574714002112, 2014.
Liu, Z., Wu, J., and Wang, D.: An engineering-oriented motion accuracy fluctuation suppression method of a hybrid spray-painting robot considering dynamics, Mech. Mach. Theory, 131, 62–74, https://doi.org/10.1016/j.mechmachtheory.2018.09.015, 2019.
Mo, J., Shao, Z., Guan, L., Xie, F., and Tang, X.: Dynamic performance analysis of the X4 high-speed pick-and-place parallel robot, Robot. Com.-Int. Manuf., 46, 48–57, https://doi.org/10.1016/j.rcim.2016.11.003, 2017.
Mohan, S. and Corves, B.: Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator, Mech. Sci., 8, 235–248, https://doi.org/10.5194/ms-8-235-2017, 2017.
Müller, A.: Dynamics Modeling of Topologically Simple Parallel Kinematic Manipulators: A Geometric Approach, Appl. Mech. Rev., 72, 030801, https://doi.org/10.1115/1.4045428, 2019.
Müller, A.: Dynamics of parallel manipulators with hybrid complex limbs-Modular modeling and parallel computing, Mech. Mach. Theory, 167, 104549, https://doi.org/10.1016/j.mechmachtheory.2021.104549, 2022.
Nayak, A., Caro, S., and Wenger, P.: Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity, Mech. Mach. Theory, 129, 293–315, https://doi.org/10.1016/j.mechmachtheory.2018.08.001, 2018.
Qiancheng, L., Enyu, L., Chuangchuang, C., and Guanglei, W.: An open-closed-loop iterative learning control for trajectory tracking of a high-speed 4-dof parallel robot, Intelligence & Robotics, 2, 89–104, 2022.
Shao, Z., Tang, X., Chen, X., and Wang, L.: Research on the inertia matching of the Stewart parallel manipulator, Robot. Com.-Int. Manuf., 28, 649–659, https://doi.org/10.1016/j.rcim.2012.04.001, 2012.
Song, Y., Wu, J., Yu, G., and Huang, T.: Dynamic characteristic prediction of a 5-DOF hybrid machine tool by using scale model considering the geometric distortion of bearings, Mech. Mach. Theory, 145, 103679, https://doi.org/10.1016/j.mechmachtheory.2019.103679, 2020.
Sun, C., Xu, W., Bronlund, J., and Morgenstern, M.: Dynamics and Compliance Control of a Linkage Robot for food chewing, IEEE T. Ind. Electron., 61, 377–386, 2014.
Sun, T., Ye, W., Yang, C., and Huang, F.: Dynamic modeling and performance analysis of the 2PRU-PUU parallel mechanism, Mech. Sci., 15, 249–256, https://doi.org/10.5194/ms-15-249-2024, 2024.
Tsai, L.: Robot Analysis: The Mechanics of Serial and Parallel manipulators, John Wiley & Sons Inc, Canada, ISBN 0-471-32593-7, 1999.
Wang, J., Zheng, J., Zhao, Y., and Yang, K.: Structure design and coordinated motion analysis of bionic crocodile robot, Biomimetic Intelligence and Robotics, 4, 100157, https://doi.org/10.1016/j.birob.2024.100157, 2024.
Wang, Y., Belzile, B., Angeles, J., and Li, Q.: The Modeling of Redundantly Actuated Mechanical Systems, J. Mech. Robot., 11, 061005, https://doi.org/10.1115/1.4044540, 2019.
Xu, W. and Bronlund, J.: Mastication Robots: Biological Inspiration to Implementation, Springer-Verlag, Berlin, Germany, ISBN 978-3-540-93902-3, https://doi.org/10.1007/978-3-540-93903-0, 2010.
Xu, W. L., Bronlund, J. E., Potgieter, J., Foster, K. D., Röhrle, O., Pullan, A. J., and Kieser, J. A.: Review of the human masticatory system and masticatory robotics, Mech. Mach. Theory, 43, 1353–1375, 2008a.
Xu, W. L., Torrance, J., Chen, B. Q., Potgieter, J., Bronlund, J. E., and Pap, J.-S.: Kinematics and Experiments of a Life-Sized Masticatory Robot for Characterizing Food Texture, IEEE T. Ind. Electron., 55, 2121–2132, 2008b.
Yan, P., Huang, H., Li, B., and Zhou, D.: A 5-DOF redundantly actuated parallel mechanism for large tilting five-face machining, Mech. Mach. Theory, 172, 104785, https://doi.org/10.1016/j.mechmachtheory.2022.104785, 2022.
Yang, X., Wu, H., Li, Y., Kang, S., and Chen, B.: Computationally Efficient Inverse Dynamics of a Class of Six-DOF Parallel Robots: Dual Quaternion Approach, J. Intell. Robot. Syst., 94, 101–113, https://doi.org/10.1007/s10846-018-0800-1, 2019.
Zhang, H., Tang, J., Gao, Q., Cui, G., Shi, K., and Yao, Y.: Multi-objective optimization of a redundantly actuated parallel robot mechanism for special machining, Mech. Sci., 13, 123–136, https://doi.org/10.5194/ms-13-123-2022, 2022.
Zou, Q., Zhang, D., and Huang, G.: Dynamic performance evaluation of the parallel mechanism for a 3T2R hybrid robot, Mech. Mach. Theory, 172, 104794, https://doi.org/10.1016/j.mechmachtheory.2022.104794, 2022.
Short summary
Our research team designed a robotic mechanism inspired by the masticatory system of human beings. It is to be deployed in the food industry, reproducing the chewing behaviors of human beings. Thus, the properties of the newly developed foods can be evaluated in a human-like manner. To facilitate the model-based motion control in real time, a newly developed methodology from the literature is used. Then, the inertia coupling in the joint space control is analyzed.
Our research team designed a robotic mechanism inspired by the masticatory system of human...
