Articles | Volume 6, issue 2
https://doi.org/10.5194/ms-6-119-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-6-119-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
the Creative Commons Attribution 3.0 License.
Research article
| 
04 Aug 2015
Research article |
| 04 Aug 2015
Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation
W. Kraus
CORRESPONDING AUTHOR
Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany
P. Miermeister
Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany
V. Schmidt
Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany
A. Pott
Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany
Related subject area
Subject: Mechanisms and Robotics | Techniques and Approaches: Synthesis
The evolution and restoration of European vertically arranged mechanical turret clocks before the 17th century
Evolution and mechanism configuration synthesis of chamber clocks movement prior to 1700
Structural analysis of traditional Chinese blocked-keyhole padlocks
TGA-based solutions map method for four-position synthesis of planar 4R linkage
An innovative device for enlarging the allowable misalignment for screwing tasks
Design of an origami-based cylindrical deployable mechanism
Electromyogram-based motion compensation control for the upper limb rehabilitation robot in active training
Structural analysis of ancient Chinese textile mechanisms
Stiffness analysis of a 3-DOF parallel mechanism for engineering special machining
Automatic adjustment of laparoscopic pose using deep reinforcement learning
Automation creation method for a double planet carrier gear train transplanting mechanism based on functional constraints
The singular value decomposition method of improved incidence matrix for isomorphism identification of epicyclic gear trains
Novel loop tree for the similarity recognition of kinematic chains
A chord-angle-based approach with expandable solution space to 1-degree-of-freedom (DOF) rehabilitation mechanism synthesis
Motion generation of a planar 3R serial chain based on conformal geometric algebra with applications to planar linkages
Simulation and analysis of a single actuated quadruped robot
Synthesis of trigonometric motion programs with lower motion characteristics
Optimal synthesis of four-bar linkages for path generation using the individual repairing method
Type synthesis approach for the 2R1T compliant parallel mechanism with a suitable constrained branch
Synthesis method of two translational compliant mechanisms with redundant actuation
Reconstruction designs of an early Chinese astronomical clock with a waterwheel steelyard clepsydra
Mixed synthesis method of motion and path of planar four-bar linkages
Geometric synthesis method of compliant mechanism based on similarity transformation of pole maps
Structural optimization of a new type of lever-assisted gear reducer based on a genetic algorithm
Historical development of water-powered mechanical clocks
The method for synthesis of the contact ratio of noncircular bevel gears
Design of a 4-DoF (degree of freedom) hybrid-haptic device for laparoscopic surgery
Research on the influence of air-gap eccentricity on the temperature field of a motorized spindle
Kinematic synthesis method and eccentricity effects of a Stephenson mechanism
Design and evaluation of a hybrid passive–active knee prosthesis on energy consumption
Thickness-utilizing deployable hard stops for origami-based design applications
A bistable mechanism with linear negative stiffness and large in-plane lateral stiffness: design, modeling and case studies
On the analysis and design of a fully compliant large stroke slider-crank (rocker) mechanism
Kinematic analysis and evaluation of a hybrid mechanism for computer assisted bone reduction surgery
Synthesis Theory and Optimum Design of Four-bar Linkage with Given Angle Parameters
Dimensionless design approach to translating flat faced follower mechanism with two-circular-arc cam
Computer-aided synthesis of spherical and planar 4R linkages for four specified orientations
Laparoscope arm automatic positioning for robot-assisted surgery based on reinforcement learning
Origami fold states: concept and design tool
Solution-region-based synthesis approach for selecting optimal four-bar linkages with the Ball–Burmester point
Novel compliant wiper mechanism
Solution Region Synthesis Methodology of RCCC Linkages for Four Poses
Mechatronic design and genetic-algorithm-based MIMO fuzzy control of adjustable-stiffness tendon-driven robot finger
Design and development of a novel monolithic compliant XY stage with centimeter travel range and high payload capacity
Module-based structure design of wheeled mobile robot
A self-adjusting stiffness center design for large stroke compliant XY nanomanipulators
The design formulae for skew line gear wheel structures oriented to the additive manufacturing technology based on strength analysis
An Algebraic Formulation for the Configuration Transformation of a Class of Reconfigurable Cube Mechanisms
Design and Modelling of a Cable-Driven Parallel-Series Hybrid Variable Stiffness Joint Mechanism for Robotics
General design equations for the rotational stiffness, maximal angular deflection and rotational precision of various notch flexure hinges
Tsung-Yi Lin and Wen-Feng Lin
Mech. Sci., 13, 933–948, https://doi.org/10.5194/ms-13-933-2022, https://doi.org/10.5194/ms-13-933-2022, 2022
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This study mainly analyzed the mechanism and technology of nine existing vertically arranged mechanical turret clocks manufactured in Europe from the 15th to the 17th century, in order to determine the design rules based on mechanical evolution and variation. This study provided new historical materials that could be applied in the research of science and technology history, as well as in innovative and science education.
Tsung-Yi Lin and Wen-Feng Lin
Mech. Sci., 13, 877–897, https://doi.org/10.5194/ms-13-877-2022, https://doi.org/10.5194/ms-13-877-2022, 2022
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Chamber clocks are weight-driven wall clocks and the first type of domestic clocks to be widely used in the home. In this study, we used the method of mechanical evolution and variation, analyzed and compared clock movements based on historical data and existing clocks, and synthesized all possible movement configurations of early-day chamber clocks.
Yang Zhang, Hsin-Te Wang, Jian-Liang Lin, Chin-Fei Huang, and Kuo-Hung Hsiao
Mech. Sci., 13, 791–802, https://doi.org/10.5194/ms-13-791-2022, https://doi.org/10.5194/ms-13-791-2022, 2022
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Barbed-spring padlocks are the typical locks used in ancient China, and can be divided into three main types, namely open-keyhole, hidden-keyhole, and blocked-keyhole padlocks. With the combinations and changes of springs, keys, and keyholes, the padlocks have a variety of different unlocking methods which provide higher security. Six examples are provided to demonstrate the opening processes of blocked-keyhole padlocks.
Yehui Zhao, Lijun Xue, Guangming Wang, Fanglei Zou, Yue Song, and Hongjian Zhang
Mech. Sci., 13, 771–790, https://doi.org/10.5194/ms-13-771-2022, https://doi.org/10.5194/ms-13-771-2022, 2022
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In this study, we want to design a 4R linkage so that a point on its coupler can pass through the four specified positions. However, for most synthesis problems, the number of feasible solutions in the solution domain is seriously insufficient. Therefore, a solutions map method was proposed to realize the visualization of the solution domain and a telomere genetic algorithm (TGA) was proposed to optimize solutions map, so as to improve the number and proportion of feasible solutions.
Hao-Tien Ku and Yu-Hsun Chen
Mech. Sci., 13, 701–712, https://doi.org/10.5194/ms-13-701-2022, https://doi.org/10.5194/ms-13-701-2022, 2022
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To lower the frequency of suspending and calibrating a robot manipulator, an innovative device for enlarging the allowed position error is proposed in this study. It is a purely mechanical device without any electrical sensors. A trigger mechanism with a spring is used to replace a touch sensor and an actuator, and a six-bar linkage delivers the bolt to the hole that the trigger mechanism detected for it to be screwed in. The functions of the new device are verified through prototype testing.
Long Huang, Peng Zeng, Lairong Yin, and Juan Huang
Mech. Sci., 13, 659–673, https://doi.org/10.5194/ms-13-659-2022, https://doi.org/10.5194/ms-13-659-2022, 2022
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This paper proposes a novel origami-based deployable mechanism, which can be deployed from the cuboid folded configuration to the cylindrical configuration. In comparison with the reported deployable mechanism composed of links, the hinge arrangement of the proposed mechanism makes it easier to achieve a higher stiffness. It is applied to the design of a parabolic cylindrical deployable antenna, and a scaled prototype of the antenna is constructed to verify the feasibility of the design.
Qiaoling Meng, Yiming Yue, Sujiao Li, and Hongliu Yu
Mech. Sci., 13, 675–685, https://doi.org/10.5194/ms-13-675-2022, https://doi.org/10.5194/ms-13-675-2022, 2022
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This paper proposes a novel EMG-based motion compensation controller in active training control to improve patients’ active participation. After proposing an upper limb rehabilitation robot and doing the path plan, the EMG compensation experiments and the active training control experiment are done to prove that the method can control the robot in providing auxiliary force according to patients’ motion intents. The robot can guide the patients in implementing reference tasks in active training.
Shi-Wu Li, Kan Shi, Ming-Jie Wang, and Yan-An Yao
Mech. Sci., 13, 625–634, https://doi.org/10.5194/ms-13-625-2022, https://doi.org/10.5194/ms-13-625-2022, 2022
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China is one of the first countries that produced textiles in the world. It has designed and developed a variety of equipment to facilitate textile work. However, due to unclear descriptions in the records and illustrations, a variety of designs with different structures may have been produced. This paper briefly analyzes the structures of textile mechanisms and explores the degree of freedom of the mechanisms to find feasible designs in line with functional requirements.
Haiqiang Zhang, Jianglong Tang, Changtao Yan, Guohua Cui, Minghui Zhang, and Yan'an Yao
Mech. Sci., 13, 635–645, https://doi.org/10.5194/ms-13-635-2022, https://doi.org/10.5194/ms-13-635-2022, 2022
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To improve the stiffness performance of the parallel mechanism, this paper proposes a novel 3-DOF redundantly actuated 2RPU-2SPR parallel mechanism. What is more, the stiffness model of the parallel mechanism is deduced and the accuracy of the stiffness model is verified through finite-element analysis. Finally, the simulation experiment results demonstrate that the redundantly actuated parallel mechanism has better stiffness performance compared to a traditional 2RPU-SPR parallel mechanism.
Lingtao Yu, Yongqiang Xia, Pengcheng Wang, and Lining Sun
Mech. Sci., 13, 593–602, https://doi.org/10.5194/ms-13-593-2022, https://doi.org/10.5194/ms-13-593-2022, 2022
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We designed a motion controller through deep reinforcement learning. The laparoscopic visual field image is input to the controller, and the controller outputs the joint motion of the laparoscopic arm to adjust the visual field. During the movement of the surgical instrument in different trajectories, the controller keeps the surgical instrument in an appropriate position in the visual field. It proves that the method is widely effective and can meet the needs of doctors during surgery.
Liang Sun, Xuewen Huang, Yadan Xu, Zhizheng Ye, and Chuanyu Wu
Mech. Sci., 13, 543–558, https://doi.org/10.5194/ms-13-543-2022, https://doi.org/10.5194/ms-13-543-2022, 2022
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The creation method of a 1 degree of freedom double plant carrier gear train (DPGT) transplanting mechanism was proposed based on the functional constraints. Within the eight components of the DPGT, the automatic creation of a transplanting mechanism was realized. A total of 528 DPGTs, which are suitable for transplanting, including 3 five-bar, 13 six-bar, 92 seven-bar, and 420 eight-bar configurations, were obtained for the first time.
Mingshuai Zhou, Wei Sun, Rongxuan Wu, and Wenxu Fu
Mech. Sci., 13, 535–542, https://doi.org/10.5194/ms-13-535-2022, https://doi.org/10.5194/ms-13-535-2022, 2022
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The epicyclic gear train (EGT) is a gear transmission mechanism. When the number of designed structures is increasing and structures are becoming ever more complex, manual screening is very difficult. Therefore, scholars are committed to developing an algorithm that can distinguish repetitive structures. In this paper, we use a method to transform the structural information of EGT into a matrix and extract the hidden information in the matrix to judge whether there is a repeated structure.
Lei Wang, Liang Sun, Rongjiang Cui, Yadan Xu, Gaohong Yu, and Chuanyu Wu
Mech. Sci., 13, 371–386, https://doi.org/10.5194/ms-13-371-2022, https://doi.org/10.5194/ms-13-371-2022, 2022
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Similarity recognition of kinematic chains (KCs) is an important part of the mechanism innovation design, which can avoid isomorphism in the synthesis process and reduce the generation of redundant design schemes. In this paper, the new concepts of a loop tree (LT) and a loop tree matrix (LTM) have been proposed, which improve the efficiency of similarity recognition.
Wei Wei, Xin Shu, Peng Chen, and Xiangyun Li
Mech. Sci., 13, 341–352, https://doi.org/10.5194/ms-13-341-2022, https://doi.org/10.5194/ms-13-341-2022, 2022
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We propose a novel mechanism synthesis approach for a 1-degree-of-freedom (DOF) rehabilitation robot, based on chord angle descriptor (CAD) and error tolerance expansion, to generate a pool of mechanism solutions from which mathematically and practically optimal solutions can be selected. A design example of a 1-DOF rehabilitation robot for upper-limb training is provided to demonstrate the efficacy of our novel approach.
Lei Wang, Gaohong Yu, Liang Sun, Yuzhu Zhou, and Chuanyu Wu
Mech. Sci., 13, 275–290, https://doi.org/10.5194/ms-13-275-2022, https://doi.org/10.5194/ms-13-275-2022, 2022
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Many linkage mechanisms can be broken into components consisting of planar two-revolute (2R) and three-revolute (3R) serial chains, such as the five-, six-, and eight-bar mechanisms. In this study, a new method for the dimensional synthesis of the planar 3R serial chain for motion generation based on CGA is presented. The proposed method provides a new meaning for the motion synthesis of planar serial chains and can be applied to many other types of planar mechanisms.
Changtao Yan, Kan Shi, Haiqiang Zhang, and Yanan Yao
Mech. Sci., 13, 137–146, https://doi.org/10.5194/ms-13-137-2022, https://doi.org/10.5194/ms-13-137-2022, 2022
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Aiming at the complex control system of a quadruped robot, a leg structure of a quadruped robot was designed based on mechanism synthesis. The innovativeness of this robot is that it can achieve a special gait driven only by a single motor. Simulation and experimental analysis prove that the mechanism is reasonable, reliable and can meet the requirements of linear walking and climbing. The conclusions of this research will be useful for application in field of single actuated quadruped robots.
Kuan-Lun Hsu
Mech. Sci., 13, 111–121, https://doi.org/10.5194/ms-13-111-2022, https://doi.org/10.5194/ms-13-111-2022, 2022
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A family of trigonometric motion programs can be condensed into a general expression, and motion programs with lower peak kinematic values are synthesized with ease. The presented phase angle function makes the formulation of motion programs more simple, and a modified phase angle function is proposed to reduce motion characteristics. The synthesis process and results are clearly presented by illustrative examples.
Xinyuan Yao, Xingdong Wang, Wei Sun, Jianyi Kong, and Zhongkang Lin
Mech. Sci., 13, 79–87, https://doi.org/10.5194/ms-13-79-2022, https://doi.org/10.5194/ms-13-79-2022, 2022
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In this paper, a novel and effective constraint handling method called the individual repairing method is introduced. This method transforms every infeasible point in the search space into a unique
corresponding feasible point, so as to ensure the success and effectiveness of the optimization. This is the defining and innovative essence of this study compared with other relevant work. Based on the new constraint handling method, the optimization of path synthesis can be effectively carried out.
Yajie Zhou, Shihua Li, Jing Sun, and Li Yi
Mech. Sci., 13, 67–78, https://doi.org/10.5194/ms-13-67-2022, https://doi.org/10.5194/ms-13-67-2022, 2022
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A systematic methodology for the type synthesis of a compliant parallel mechanism (CPM) with a suitable constrained branch is introduced. The whole type synthesis principle is built upon the rigid-body-replacement method and the freedom and constraint topology approaches. A series of 2R1T motion CPMs with a suitable constraint branch are proposed. These synthesized compliant mechanisms have potential applications to posture adjustments for the space optical load in the aerospace field.
Shihua Li, Yajie Zhou, Yanxia Shan, Shuang Chen, and Jinhan Han
Mech. Sci., 12, 983–995, https://doi.org/10.5194/ms-12-983-2021, https://doi.org/10.5194/ms-12-983-2021, 2021
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Based on the freedom and constraint topology approach and atlas approach, a new method for the synthesis of a redundant actuated compliant parallel mechanism is proposed, the synthesis conditions are given, and the synthesis process is formulated. With this proposed method, two new translation redundant actuated compliant parallel mechanisms are synthesized, and some new mechanisms have been synthesized. The degree of freedom analysis verifies the correctness and effectiveness of the method.
Zeng-Hui Hwang, Tsung-Yi Lin, and Hong-Sen Yan
Mech. Sci., 12, 891–911, https://doi.org/10.5194/ms-12-891-2021, https://doi.org/10.5194/ms-12-891-2021, 2021
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The monk I-Hsing (621–727) was an outstanding astronomer and mathematician during the Tang Dynasty. He was the first person to use scientific methods to measure the length of the meridian. History records that the waterwheel drove his hydromechanical clock, and the time-reporting device could accurately tell the time. Therefore, his hydromechanical clock had a timing function and an escapement regulation device.
Rui Wu, Ruiqin Li, Hailong Liang, and Fengping Ning
Mech. Sci., 12, 443–449, https://doi.org/10.5194/ms-12-443-2021, https://doi.org/10.5194/ms-12-443-2021, 2021
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A method is developed for planar four-bar linkages to cope with the mixed synthesis of motion and path-generation problems. The developed method selects an optimal combination by using the conic filtering algorithm, which is based on the similar characteristics of the value and direction between the conic and coupler curves in a certain neighborhood. The selected combination is substituted into an equation system of motion synthesis to solve the parameters of the planar four-bar linkages.
Song Lin, Yu Zhang, Hanchao Wang, Jingyu Jiang, and Niels Modler
Mech. Sci., 12, 375–391, https://doi.org/10.5194/ms-12-375-2021, https://doi.org/10.5194/ms-12-375-2021, 2021
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This paper proposes a novel geometrical approach to compliant mechanism synthesis based on similarity transformation of pole maps. The study demonstrates the feasibility of applying the geometric similarity transformation to the compliant mechanism and then proposes the procedure of synthesis method. In addition, this work illustrates the synthesis method with two examples.
Lei Guo, Zeyu Wang, Yuan Song, Xianjie Shan, and Dongming Gan
Mech. Sci., 12, 333–343, https://doi.org/10.5194/ms-12-333-2021, https://doi.org/10.5194/ms-12-333-2021, 2021
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In industrial production, the reducer often determines the accuracy of the machine. Designing a reducer with high strength and good accuracy plays an important role in industrial development. In this paper, combined with previous studies, a new type of reducer based on the lever structure is designed, and the performance of the reducer is optimized. Finally, the most appropriate geometric parameters are obtained to ensure the high efficiency of the reducer. It is effective and stable.
Zheng-Hui Hwang, Hong-Sen Yan, and Tsung-Yi Lin
Mech. Sci., 12, 203–219, https://doi.org/10.5194/ms-12-203-2021, https://doi.org/10.5194/ms-12-203-2021, 2021
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This article examines the historical development of ancient water-powered mechanical clocks. The study begins with a comprehensive analysis and comparison of the different types of ancient clepsydra, their use and development, development of their feedback systems, power systems, and time-reporting systems.
Kan Shi, Shuai Lin, and Yan'an Yao
Mech. Sci., 12, 165–172, https://doi.org/10.5194/ms-12-165-2021, https://doi.org/10.5194/ms-12-165-2021, 2021
Houssem Saafi, Med Amine Laribi, and Said Zeghloul
Mech. Sci., 12, 155–164, https://doi.org/10.5194/ms-12-155-2021, https://doi.org/10.5194/ms-12-155-2021, 2021
Xiaohu Li, Jinyu Liu, Cui Li, Jun Hong, and Dongfeng Wang
Mech. Sci., 12, 109–122, https://doi.org/10.5194/ms-12-109-2021, https://doi.org/10.5194/ms-12-109-2021, 2021
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The temperature distribution of a machine tool spindle is affected by its air gap. The more serious the air gap eccentricity is, the more uneven the temperature field of the spindle is. In the process of machine tool processing, the instability of the spindle temperature field leads to the decline of parts processing quality and unqualified products, which not only wastes materials, but also affects the processing process.
Amandyk Tuleshov, Recep Halicioglu, Azhar Shadymanova, and Moldir Kuatova
Mech. Sci., 12, 1–8, https://doi.org/10.5194/ms-12-1-2021, https://doi.org/10.5194/ms-12-1-2021, 2021
Xiaoming Wang, Qiaoling Meng, Zhewen Zhang, Jinyue Sun, Jie Yang, and Hongliu Yu
Mech. Sci., 11, 425–436, https://doi.org/10.5194/ms-11-425-2020, https://doi.org/10.5194/ms-11-425-2020, 2020
David W. Andrews, Spencer P. Magleby, and Larry L. Howell
Mech. Sci., 11, 395–410, https://doi.org/10.5194/ms-11-395-2020, https://doi.org/10.5194/ms-11-395-2020, 2020
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Thickness-utilizing deployable hard stops (ThUDS) block the motion of a mechanism at a desired position. Designed to reside within the thickness of a design, they can be planar or spatial in nature. Various analyses and design techniques were developed and demonstrated using physical prototypes. ThUDS are able to successfully constrain motion, are able to carry loads, and are useable in various folding applications, including origami-based engineering.
Zhanfeng Zhou, Yongzhuo Gao, Lining Sun, Wei Dong, and Zhijiang Du
Mech. Sci., 11, 75–89, https://doi.org/10.5194/ms-11-75-2020, https://doi.org/10.5194/ms-11-75-2020, 2020
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This paper proposes a novel type of bistable mechanism with linear negative stiffness and large in-plane lateral stiffness. Then, by connecting the negative-stiffness mechanism in parallel with a positive-stiffness mechanism, a novel quasi-zero stiffness compliant mechanism is developed. It has better axial guidance capability and in-plane lateral anti-interference capability compare to the conventional mechanism. Such mechanism can be used as constant-force mechanism and vibration isolator.
Çağıl Merve Tanık, Engin Tanık, Yiğit Yazıcıoğlu, and Volkan Parlaktaş
Mech. Sci., 11, 29–38, https://doi.org/10.5194/ms-11-29-2020, https://doi.org/10.5194/ms-11-29-2020, 2020
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A novel fully compliant slider-crank mechanism with no backlash property is presented. Analysis and design approaches for the fully compliant slider-crank mechanism are proposed. A design table displaying stroke, axis drift of the output segment, and critical stresses of compliant segments are presented. Approaches are verified with FEA simulations and experiment.
Sinh Nguyen Phu, Terence Essomba, Irwansyah Idram, and Jiing-Yi Lai
Mech. Sci., 10, 589–604, https://doi.org/10.5194/ms-10-589-2019, https://doi.org/10.5194/ms-10-589-2019, 2019
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In order to allow healing from severe fractures cases, a new mechanism is proposed for bone reduction surgery. This hybrid architecture is made of a double triangular planar mechanism and a tripod mechanism. Its kinematic and velocity model are computed while considering the compensation of parasitic motions. Kinematic data obtained from medical image of real case are used for simulations. When compared with the standard Steward mechanism, the present mechanism shows larger workspace.
Lairong Yin, Long Huang, Juan Huang, Peng Xu, Xuejun Peng, and Peng Zhang
Mech. Sci., 10, 545–552, https://doi.org/10.5194/ms-10-545-2019, https://doi.org/10.5194/ms-10-545-2019, 2019
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The optimum design mentioned in the paper was to choose optimum mechanism from the infinite number of mechanism solutions. By imposing constraints, the optimum mechanism solution was straightforwardly identified by the designers. The design data have been obtained and converted into a series of design graphs by the computer program which can be used to synthesize easily four-bar linkages yielding desired straight-line outputs of predetermined position.
Emre Arabaci
Mech. Sci., 10, 497–503, https://doi.org/10.5194/ms-10-497-2019, https://doi.org/10.5194/ms-10-497-2019, 2019
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Valve mechanisms are needed to control the intake and exhaust processes of today's engines. The valves in this valve mechanism are actuated by machine parts called camshafts. The cams on the camshaft have specially designed profiles for the movement of the valves. Different cam profiles must be created for each engine size and characteristic. In this study, the camshaft design parameters were dimensioned and thus a new design approach that can be used in all cam designs was presented.
Guangming Wang, Hao Zhang, Xiaoyu Li, Jiabo Wang, Xiaohui Zhang, and Guoqiang Fan
Mech. Sci., 10, 309–320, https://doi.org/10.5194/ms-10-309-2019, https://doi.org/10.5194/ms-10-309-2019, 2019
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We sometimes meet the problem of linkage synthesis for 4 specified orientations. For example, we need to design an automobile seat based on spherical 4R linkage to move the driver to the ground. According to the traditional Burmester theory, most of the linkage solutions have motion defects, which lead to low computational efficiency. In this paper, a program package was developed under Matlab, which can quickly locate the feasible linkage solution under the guidance of solutions map.
Lingtao Yu, Xiaoyan Yu, Xiao Chen, and Fengfeng Zhang
Mech. Sci., 10, 119–131, https://doi.org/10.5194/ms-10-119-2019, https://doi.org/10.5194/ms-10-119-2019, 2019
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In this paper, the preoperative planning algorithm is proposed, which makes the laparoscope provide a reasonable initial visual field. The algorithm offers significant improvements in planning time and quality for robot-assisted laparoscopic surgery. The improved method which combines the preoperative planning algorithm with deep reinforcement learning algorithm is applied to laparoscope arm automatic positioning. The algorithm provides a basis for the robot-assisted laparoscopic surgery.
Alex Avila, Spencer P. Magleby, Robert J. Lang, and Larry L. Howell
Mech. Sci., 10, 91–105, https://doi.org/10.5194/ms-10-91-2019, https://doi.org/10.5194/ms-10-91-2019, 2019
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Origami is a powerful and elegant tool that can be used by engineers to overcome challenges. The shape of the origami is essential to this. We categorize the shapes (fold states) of origami into seven classifications. This categorization method is supported by analyzing 69 origami-based devices for correlations between the classification and the types of functions they perform. These correlations can be used to design and select origami fold states.
Lairong Yin, Long Huang, Juan Huang, Lei Tian, and Fangyi Li
Mech. Sci., 10, 25–33, https://doi.org/10.5194/ms-10-25-2019, https://doi.org/10.5194/ms-10-25-2019, 2019
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We present a solution-region-based synthesis approach for selecting optimal four-bar linkages with a Ball-Burmester point. We discuss both general and special cases of the Burmester point that coincide with the Ball point at the pole of the inflection circle. We generate different mechanism property charts by developing mechanism software that enables users to intuitively identify relevant linkage information and select the optimal linkage.
Raşit Karakuş and Engin Tanık
Mech. Sci., 9, 327–336, https://doi.org/10.5194/ms-9-327-2018, https://doi.org/10.5194/ms-9-327-2018, 2018
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In this study, a compliant wiper mechanism is presented which can be used in land, air, and sea vehicles, particularly the automotive industry. The wiper mechanism is essentially a partially compliant four-bar mechanism. To the best of our knowledge, this is the first compliant wiper mechanism in the literature. After the theoretical calculations, a prototype is manufactured and an experiment is set up. The data obtained from the experimental setup are compared with the theoretical results.
Jianyou Han and Yang Cao
Mech. Sci., 9, 297–305, https://doi.org/10.5194/ms-9-297-2018, https://doi.org/10.5194/ms-9-297-2018, 2018
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The paper presents a solution region synthesis methodology for RCCC linkages. First, we couple the RC and CC dyads for obtaining all synthesis equations. Then using the solution region theory and Bertini software, all solutions for RCCC linkages can be obtained. The key contribution of this paper is that all solutions of RCCC linkages for four specific poses are obtained. Only one RCCC linkage can be synthesized by the methods published before;
Izzat Al-Darraji, Ali Kılıç, and Sadettin Kapucu
Mech. Sci., 9, 277–296, https://doi.org/10.5194/ms-9-277-2018, https://doi.org/10.5194/ms-9-277-2018, 2018
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The aim of this study is to integrate suggested control algorithms with a mechatronic design of underactuated adjustable stiffness finger for improving grasping operation. The designed robot finger system has the following main features: (1) preventing damage of objects during contact with phalanges, (2) having firm grasping, (3) adjusting grasped-forces on phalanges by stiffness of joints, and (4) implementing job independently without external control unit.
Shixun Fan, Hua Liu, and Dapeng Fan
Mech. Sci., 9, 161–176, https://doi.org/10.5194/ms-9-161-2018, https://doi.org/10.5194/ms-9-161-2018, 2018
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This article proposes a novel monolithic compliant spatial parallel XY stage (SPXYS). An important feature of the SPXYS lies in that it can deliver centimeter travel range and sustain large out-of-plane payload while possessing a compact structure, which makes the SPXYS suitable for some special applications such as Ultra-Violet Nanoimprint Lithography and soft-contact lithography.
Zirong Luo, Jianzhong Shang, Guowu Wei, and Lei Ren
Mech. Sci., 9, 103–121, https://doi.org/10.5194/ms-9-103-2018, https://doi.org/10.5194/ms-9-103-2018, 2018
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A systematic method was proposed for the synthesis and creative design of novel structures that can be used to build wheeled mobile robot. The proposed method has led to 236 new design schemes. Mathematical models and a software platform were developed to provide appropriate and intuitive tools for simulating and evaluating performance of the wheeled robots. Physical prototypes of sample wheeled robots were developed and tested, proving and validating the principle and methodology presented.
Zhiqing Liu, Zhen Zhang, and Peng Yan
Mech. Sci., 9, 41–50, https://doi.org/10.5194/ms-9-41-2018, https://doi.org/10.5194/ms-9-41-2018, 2018
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It is proposed a novel design method for large stroke XY compliant mechanisms. An important feature of the design lies in it restricts the parasitic rotation by reducing the moment of force instead of increasing the rotational stiffness widely utilized in the literature. It is presented a millimeter stroke XY nanomanipulator with the proposed design based redundant constraint in a case study. The proposed design provides an alternative to reduce the parasitic rotation of XY compliant mechanism.
Yueling Lyu, Yangzhi Chen, and Yifan Lin
Mech. Sci., 8, 369–383, https://doi.org/10.5194/ms-8-369-2017, https://doi.org/10.5194/ms-8-369-2017, 2017
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In this paper, oriented to the additive manufacturing technology, a skew line gear pair, whose number of the line tooth of the driving line gear is 1, is designed to improve its strength and overall stiffness, to reduce its volume and manufacturing cost.This paper provides a basic theory for the skew line gear pair applied in conventional powered transmission field.
Chin-Hsing Kuo, Jyun-Wei Su, and Lin-Chi Wu
Mech. Sci., 8, 101–109, https://doi.org/10.5194/ms-8-101-2017, https://doi.org/10.5194/ms-8-101-2017, 2017
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This paper investigates a special cube-connected toy that can be reconfigured into several different structures by hand operation. The reconfiguration of the toy is formulated by using an exclusive mathematic modeling through which the physical reconfiguration of the toy can be expressed and manipulated in an algebraic consideration. This research is an example of how mathematics can be applied to study the reconfiguration of mechanisms and mechanical structures.
Cihat Bora Yigit and Pinar Boyraz
Mech. Sci., 8, 65–77, https://doi.org/10.5194/ms-8-65-2017, https://doi.org/10.5194/ms-8-65-2017, 2017
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A new joint mechanism design is presented in this study which has a potential use in robotics, particularly in humanoid robot designs, because of its variable stiffness characteristics, lightweight and remotely-actuated structure. A helical spring inside the mechanism brings compliance which increases the safety. The spring is analyzed with a method proposed in the paper and verified by FEM. The kinematic and the dynamic models are obtained and experimentally validated.
Sebastian Linß, Philipp Schorr, and Lena Zentner
Mech. Sci., 8, 29–49, https://doi.org/10.5194/ms-8-29-2017, https://doi.org/10.5194/ms-8-29-2017, 2017
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Notch flexure hinges are often used as revolute joints in high-precise compliant mechanisms. Therefore, this paper presents design equations for the calculation of the rotational stiffness, maximal angular elastic deflection and rotational precision of various notch flexure hinges in dependence of the hinge parameters and the load. Four flexure hinge contours are investigated, the semi-circular, the corner-filleted, the elliptical, and the recently introduced bi-quadratic polynomial contour.
Cited articles
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Almeida, F., Lopes, A., and Abreu, P.: Force-Impedance Control a new control strategy of robotic manipulators, Recent Advances in Mechatronics, 1999.
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Pott, A., Bruckmann, T., and Mikelsons, L.: Closed-form Force Distribution for Parallel Wire Robots, in: Computational Kinematics, Springer, 25–34, 2009.
Raibert, M. H. and Craig, J. J.: Hybrid Position/Force Control of Manipulators, in: Journal of Dynamic Systems, Measurement, and Control, vol. 103, 1981.
Reisinger, T., Wobbe, F., Kolbus, M., and Schumacher, W.: Integrated Force and Motion Control of Parallel Robots – Part 2: Constrained Space, in: Robotic Systems for Handling and Assembly, Springer, 2011.
Tang, H., Yao, J., Chengz, L., and Zhao, Y.: Hybrid Position Force Control Investigation of parallel machine tool with redundant action, Applied Mechanics and Materials, 2012.
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