In order to solve the problems of too large mass,too complex structure and poor flexibility of the 6 DOF manipulator,the topological optimization theory based on variable density method is applied to the 6-DOF manipul...In order to solve the problems of too large mass,too complex structure and poor flexibility of the 6 DOF manipulator,the topological optimization theory based on variable density method is applied to the 6-DOF manipulator,the topology optimization of the main structural components of the manipulator is carried out with the help of the finite element software ANSYS,and the optimized structure is simplified according to the density distribution of the units and the requirements of manufacturability.the results are compared and analysed by static mechanics.It shows that the whole mass of the 6-DOF manipulator is reduced by 47.23%without changing the original mechanical properties after topological optimization,and the optimized model can meet the requirements of manufacturability,the optimization effect is signifcant,which can be used as a reference for the structure optimization of the 6-DOF manipulator.展开更多
The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From th...The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.展开更多
This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a ...This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systematically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end-effector, the derived inverse kinematics will provide an accurate solution. In other words, there exists no singular problem for the 5-DOF manipulator, which has wide application areas such as welding, spraying, and painting. Experiment results verify the effectiveness of the methods developed in this paper. Keywords Inverse kinematics - modeling and control - 5-DOF manipulator This work was supported by the National High Technology Research and Development Program of China (No. 2002AA422160), and the National Key Fundamental Research and Development Project of China (973, No.2002CB312200)De Xu graduated from Shandong University of Technology (SUT), China in 1985. He received a Masters degree from SUT in 1990, and a Ph.D. degree from Zhejiang University, China in 2001. He has been with the Institute of Automation, at the Chinese Academy of Sciences (CASIA) since 2001. He is an associate professor with the Laboratory of Complex Systems and Intelligence Science, CASIA. He worked as on academic visitor in the Department of Computer Science, at the University of Essex from May to August 2004. He is a member of the IEEE. His research interests include robotics and automation, especially the control of robots such as visual and intelligent control.Carlos Antonio Acosta Calderon received a B.S. degree in Computer Science Engineering from Pachuca Institute of Technology, Mexico in 2000, and a M.Sc. degree in Computer Science (Robotics and Intelligent Machines) from the University of Essex, UK in 2001. He is currently pursuing a Ph.D degree in Computer Science at the University of Essex, UK. His research interests have focused on mobile robots, in particular, the coordination of multi-robot systems, mobile manipulators, and learning by imitation. He is a member of IEEE.John Q. Gan received a B.Sc. degree in electronic engineering from Northwestern Polytechnic University, China in 1982, a M.Eng. degree in automatic control and a Ph.D degree in biomedical electronics from Southeast University, China in 1985 and 1991, respectively. He is a Senior Lecturer in the Department of Computer Science at the University of Essex, UK. He has co-authored a book, and published over 100 research papers. His research interests are in robotics and intelligent systems, brain-computer interfaces, pattern recognition, signal processing, data fusion, and neurofuzzy computation.Huosheng Hu is a Professor in the Department of Computer Science, at the University of Essex, and head of the Human Centered Robotics Group. His research interests include autonomous mobile robots, human-robot interaction, evolutionary robotics, multi-robot collaboration, embedded systems, pervasive computing, sensor integration, RoboCup, intelligent control, and networked robotics. He has published over 200 papers in journals, books, and conferences, and received two best paper awards. He is a founding member of the IEEE Society of Robotics and Automation Technical Committee of Internet and Online Robots, and a member of the IASTED Technical Committee on “Robotics” for 2001–2004. He was a Conference Chairman for the 1st European Embedded Systems Conference in Paris, 1996, and has been a member of the Program Committees for many international conferences such as IROS (2005–2006), IASTED Robotics and Applications Conferences (2000-present), and RoboCup Symposiums (2000–2004). Dr. Hu is a Chartered Engineer, a senior member of IEEE, and a member of IEE, AAAI, ACM, IASTED and IAS.Min Tan graduated from Tsing Hua University, China in 1986. He received a Ph.D. degree in 1990 from CASIA. He is a professor with the Laboratory of Complex Systems and Intelligence Science, CASIA. He has published over 100 papers in journals, books, and conferences. His research interests include robotics and complex system theory.展开更多
The unique design for a novel 6-SPS parallel 3-dimensional platformmanipulator with an orthogonal configuration is investigated. The layout feature of the parallelmanipulator is described. Its force/motion transmissio...The unique design for a novel 6-SPS parallel 3-dimensional platformmanipulator with an orthogonal configuration is investigated. The layout feature of the parallelmanipulator is described. Its force/motion transmission capability, evaluation criteria arepresented. At the orthogonal configuration, the criteria and the relationships between the criteriaand the link lengths are analyzed, which is important since it can provide designer a piece ofvaluable information about how to choose the linear actuators. From the analysis of the results itis shown that the force/motion transmission capabilities of the parallel manipulator arecharacterized by isotropy at the orthogonal configuration. The manipulator is particularly suitablefor certain applications in 6-DOF micromanipulators and 6-axis force/moment transducers.展开更多
Three-degree of freedom（3-DOF） translational parallel manipulators（TPMs） have been widely studied both in industry and academia in the past decades. However, most architectures of 3-DOF TPMs are created mainly on ...Three-degree of freedom（3-DOF） translational parallel manipulators（TPMs） have been widely studied both in industry and academia in the past decades. However, most architectures of 3-DOF TPMs are created mainly on designers＇ intuition, empirical knowledge, or associative reasoning and the topology synthesis researches of 3-DOF TPMs are still limited. In order to find out the atlas of designs for 3-DOF TPMs, a topology search is presented for enumeration of 3-DOF TPMs whose limbs can be modeled as 5-DOF serial chains. The proposed topology search of 3-DOF TPMs is aimed to overcome the sensitivities of the design solution of a 3-DOF TPM for a LARM leg mechanism in a biped robot. The topology search, which is based on the concept of generation and specialization in graph theory, is reported as a step-by-step procedure with desired specifications, principle and rules of generalization, design requirements and constraints, and algorithm of number synthesis. In order to obtain new feasible designs for a chosen example and to limit the search domain under general considerations, one topological generalized kinematic chain is chosen to be specialized. An atlas of new feasible designs is obtained and analyzed for a specific solution as leg mechanisms. The proposed methodology provides a topology search for 3-DOF TPMs for leg mechanisms, but it can be also expanded for other applications and tasks.展开更多
A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based ...A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based on differentiation is used to get the (inverse) kinematics equations. Then a micro-scale motion precision simulation method is proposed according to finite element analysis (FEA), and the prediction of robot’s motion precision in design phase is realized. The simulation result indicates that the 6-DOF micro-manipulation robot can meet the design specification.展开更多
针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对...针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对机器人的运动学进行了仿真,结果表明所得的机器人正、逆运动学方程完全正确;最后设计了虚拟样机,利用RobotStudio仿真分析了机器人箱体焊接的优点;为进一步验证设计的机器人运动性能,与通用6-DOF机器人做了对比分析。研究结果表明新型机器人运动的可行性,为设计适应箱柜等狭窄空间的工业机器人提供了理论依据。展开更多
A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed...A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.展开更多
基金supported in part by China intelligent robot project of firm-universities cooperative R&D under Grant No.2021JQR021the Anhui Provincial Teaching Demonstration Course Project under Grant No.2020SJJXSFK0330+9 种基金the demonstration experiment training center project of Anhui Polytechnic University under Grant No.2020sysx02the Overseas Visiting and Research Project for Outstanding Young Backbone Talents in Universities of Anhui Province under Grant No.gxgwfx2019041the Innovation Project for Returned Overseas Students in Anhui Province under Grant No.2020LCX013Key Research and Development Projects of Anhui Province under Grant No.202004b11020006Scientific Research Foundation of Anhui Polytechnic University under Grant No.2020YQQ010Anhui Polytechnic University Research Initiation Fund for Introducing Talents under Grant No.2019YQQ004Anhui Polytechnic University Research Project under Grant No.Xjky019201905Industrial Collaborative Innovation Fund of Anhui Polytechnic University and Jiujiang District under Grant No.2021cyxtb9Open Project of Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot under Grant No.IFCIR2020001Open project of Key Laboratory of industrial equipment quality big data Ministry of industry and information technology under Grant No.2021-IEQBD-05.
文摘In order to solve the problems of too large mass,too complex structure and poor flexibility of the 6 DOF manipulator,the topological optimization theory based on variable density method is applied to the 6-DOF manipulator,the topology optimization of the main structural components of the manipulator is carried out with the help of the finite element software ANSYS,and the optimized structure is simplified according to the density distribution of the units and the requirements of manufacturability.the results are compared and analysed by static mechanics.It shows that the whole mass of the 6-DOF manipulator is reduced by 47.23%without changing the original mechanical properties after topological optimization,and the optimized model can meet the requirements of manufacturability,the optimization effect is signifcant,which can be used as a reference for the structure optimization of the 6-DOF manipulator.
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.
基金This work was supported by the National High Technology Research and Development Program of China (No. 2002AA422160)the National Key Fundamental Research and Development Project of China (973, No.2002CB312200)
文摘This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systematically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end-effector, the derived inverse kinematics will provide an accurate solution. In other words, there exists no singular problem for the 5-DOF manipulator, which has wide application areas such as welding, spraying, and painting. Experiment results verify the effectiveness of the methods developed in this paper. Keywords Inverse kinematics - modeling and control - 5-DOF manipulator This work was supported by the National High Technology Research and Development Program of China (No. 2002AA422160), and the National Key Fundamental Research and Development Project of China (973, No.2002CB312200)De Xu graduated from Shandong University of Technology (SUT), China in 1985. He received a Masters degree from SUT in 1990, and a Ph.D. degree from Zhejiang University, China in 2001. He has been with the Institute of Automation, at the Chinese Academy of Sciences (CASIA) since 2001. He is an associate professor with the Laboratory of Complex Systems and Intelligence Science, CASIA. He worked as on academic visitor in the Department of Computer Science, at the University of Essex from May to August 2004. He is a member of the IEEE. His research interests include robotics and automation, especially the control of robots such as visual and intelligent control.Carlos Antonio Acosta Calderon received a B.S. degree in Computer Science Engineering from Pachuca Institute of Technology, Mexico in 2000, and a M.Sc. degree in Computer Science (Robotics and Intelligent Machines) from the University of Essex, UK in 2001. He is currently pursuing a Ph.D degree in Computer Science at the University of Essex, UK. His research interests have focused on mobile robots, in particular, the coordination of multi-robot systems, mobile manipulators, and learning by imitation. He is a member of IEEE.John Q. Gan received a B.Sc. degree in electronic engineering from Northwestern Polytechnic University, China in 1982, a M.Eng. degree in automatic control and a Ph.D degree in biomedical electronics from Southeast University, China in 1985 and 1991, respectively. He is a Senior Lecturer in the Department of Computer Science at the University of Essex, UK. He has co-authored a book, and published over 100 research papers. His research interests are in robotics and intelligent systems, brain-computer interfaces, pattern recognition, signal processing, data fusion, and neurofuzzy computation.Huosheng Hu is a Professor in the Department of Computer Science, at the University of Essex, and head of the Human Centered Robotics Group. His research interests include autonomous mobile robots, human-robot interaction, evolutionary robotics, multi-robot collaboration, embedded systems, pervasive computing, sensor integration, RoboCup, intelligent control, and networked robotics. He has published over 200 papers in journals, books, and conferences, and received two best paper awards. He is a founding member of the IEEE Society of Robotics and Automation Technical Committee of Internet and Online Robots, and a member of the IASTED Technical Committee on “Robotics” for 2001–2004. He was a Conference Chairman for the 1st European Embedded Systems Conference in Paris, 1996, and has been a member of the Program Committees for many international conferences such as IROS (2005–2006), IASTED Robotics and Applications Conferences (2000-present), and RoboCup Symposiums (2000–2004). Dr. Hu is a Chartered Engineer, a senior member of IEEE, and a member of IEE, AAAI, ACM, IASTED and IAS.Min Tan graduated from Tsing Hua University, China in 1986. He received a Ph.D. degree in 1990 from CASIA. He is a professor with the Laboratory of Complex Systems and Intelligence Science, CASIA. He has published over 100 papers in journals, books, and conferences. His research interests include robotics and complex system theory.
基金This project is supported by National 863 Plan of China (No. 512-9804- 02) and 863 Opening Robot Laboratory Foundation of Shenyang Institute Automation of Chinese Academy of Sciences.
文摘The unique design for a novel 6-SPS parallel 3-dimensional platformmanipulator with an orthogonal configuration is investigated. The layout feature of the parallelmanipulator is described. Its force/motion transmission capability, evaluation criteria arepresented. At the orthogonal configuration, the criteria and the relationships between the criteriaand the link lengths are analyzed, which is important since it can provide designer a piece ofvaluable information about how to choose the linear actuators. From the analysis of the results itis shown that the force/motion transmission capabilities of the parallel manipulator arecharacterized by isotropy at the orthogonal configuration. The manipulator is particularly suitablefor certain applications in 6-DOF micromanipulators and 6-axis force/moment transducers.
基金supported by the Chinese Scholarship Council(CSC)for his Ph D study and research at LARM in the University of Cassino and South Latium,Italy,during 2013-2015
文摘Three-degree of freedom（3-DOF） translational parallel manipulators（TPMs） have been widely studied both in industry and academia in the past decades. However, most architectures of 3-DOF TPMs are created mainly on designers＇ intuition, empirical knowledge, or associative reasoning and the topology synthesis researches of 3-DOF TPMs are still limited. In order to find out the atlas of designs for 3-DOF TPMs, a topology search is presented for enumeration of 3-DOF TPMs whose limbs can be modeled as 5-DOF serial chains. The proposed topology search of 3-DOF TPMs is aimed to overcome the sensitivities of the design solution of a 3-DOF TPM for a LARM leg mechanism in a biped robot. The topology search, which is based on the concept of generation and specialization in graph theory, is reported as a step-by-step procedure with desired specifications, principle and rules of generalization, design requirements and constraints, and algorithm of number synthesis. In order to obtain new feasible designs for a chosen example and to limit the search domain under general considerations, one topological generalized kinematic chain is chosen to be specialized. An atlas of new feasible designs is obtained and analyzed for a specific solution as leg mechanisms. The proposed methodology provides a topology search for 3-DOF TPMs for leg mechanisms, but it can be also expanded for other applications and tasks.
基金the Research Fund for the Doctoral Programof Higher Education(20060007023)
文摘A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based on differentiation is used to get the (inverse) kinematics equations. Then a micro-scale motion precision simulation method is proposed according to finite element analysis (FEA), and the prediction of robot’s motion precision in design phase is realized. The simulation result indicates that the 6-DOF micro-manipulation robot can meet the design specification.
文摘针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对机器人的运动学进行了仿真,结果表明所得的机器人正、逆运动学方程完全正确;最后设计了虚拟样机,利用RobotStudio仿真分析了机器人箱体焊接的优点;为进一步验证设计的机器人运动性能,与通用6-DOF机器人做了对比分析。研究结果表明新型机器人运动的可行性,为设计适应箱柜等狭窄空间的工业机器人提供了理论依据。
基金National Natural Science Foundation of China (No.50275040)
文摘A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.
