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RISS 인기검색어
- 검색키워드
- 저자 : Nijia Ye (검색결과 6 건)
- 무료
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- 유료
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Dynamics analysis of 3-leg 6-DoF parallel manipulator with multi different-DoF finger mechanisms
Yi Lu,Nijia Ye,Peng Wang 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.3
A dynamics of a 3-leg 6-DoF parallel manipulator with multi different-DoF fingers is studied systematically. First, the unified kinematics formulae of the parallel manipulator with multi different-DoF fingers are established for solving the velocity/acceleration of the moving links of parallel manipulator and finger mechanisms and the Jacobian/Hessian matrices. Second, their unified dynamics formulae are established for solving the dynamic input wrench of the parallel manipulator and the finger mechanisms. Third, the special kinematics/dynamics formulae of a novel 6-DoF 3-UPS type parallel manipulator with three one-DoF finger mechanisms are derived for illustrating application of dynamics formulae. Finally, its analytic solutions are analyzed and verified by the simulation solutions.
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Yi Lu,Yang Lu,Nijia Ye,Bingyi Mao,Chunping Sui,Jianda Han 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.5
"It has been a significant and challenging issue to derive the complex valid contracted graphs (CGs) with hexagonal links plus other links and identify their isomorphism for creating novel closed mechanisms. This paper focuses on the derivation of the valid CGs with hexagonal links plus other links using the characteristic strings (CSs). First, the concepts on the CGs and CSs are explained, and the numbers of vertices and edges in the CGs are solved. Second, the relative criterion are determined for representing/deriving CGs and identifying isomorphic/invalid CGs by CSs. Third, some simple CGs are derived from some associated linkages with hexagonal links plus more other links, are represented by CSs, and the isomorphic/invalid CGs are identified using the CSs and the isomorphic queues of the links. Fourth, some examples are given for illustrating their applications. Finally, many complex valid CGs with more hexagonal links plus other links are represented and derived using CSs, and their isomorphism are identified using CSs."
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Yi Lu,Keke Zhou,Nijia Ye 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.3
A novel climbing robot with tri-planar limbs is proposed for remanufacturing, and its kinematics and dynamics are studied systematically. First, a 3D prototype of the climbing robot with tri-planar limbs was designed and constructed; its principle of climbing wall and machining in fixed wall location are explained. Second, the formulae for solving the displacement, the velocity, acceleration, and the dynamic active forces of this climbing robot were derived. Third, a workspace during its operation in fixed location was constructed. Finally, a numerical example is given, and analytical solutions are verified by the simulation solutions.
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Kinematics/statics analysis of a novel serial-parallel robotic arm with hand
Yi Lu,Zhuohong Dai,Nijia Ye,Peng Wang 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.10
A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel roboticarm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel roboticarm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPSparallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving thedisplacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachableworkspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics andstatics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.
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Yang Lu,Yi Lu,Canguo Zhang,Nijia Ye 대한기계학회 2019 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.33 No.11
Several novel parallel manipulators (PMs) with equivalent composite universal joints U e are synthesized and their kinematics is studied systematically in this paper. First, the 12 novel PMs with U e are synthesized, and their degrees of freedom are calculated. Second, the structure and merits of the composite limb with U e for constructing the PMs with U e are analyzed; the unified formulas are derived for solving the sub-Jacobian matrix, the sub-Hessian matrix, the angular velocity and the angular acceleration of the composite limb with U e . Third, the formulas are derived for solving the Jacobian matrix and output velocity, the Hessian matrix and output acceleration of the moving platforms of the 10 novel PMs with U e . Finally, a 5-DoF PM with 2U e in the 12 synthesized PMs with U e is illustrated for solving the kinematics of the PMs with U e ; its reachable workspace is constructed for representing merits of the PMs with U e . The theoretical kinematics solutions are verified by the simulation solution of the simulation mechanism of the 5-DoF PM with 2U e .
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Yi Lu,Yang Liu,Yang Lu,Nijia Ye,Bo Hu 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.8
A novel 4-DoF parallel manipulator with multi-couple constrained wrenches is proposed. Its 3D model is constructed and its characteristics, DoF and two couple-constrained wrenched are analyzed. Its kinematic formulae for solving DoF, the displacement, velocity, acceleration, singularities of moving links are derived and analyzed. Its dynamics formulae for solving the dynamic active forces and the dynamic couple-constrained wrench are derived, and its workspace is constructed. Finally, an analytic example is given to demonstrate the solution of the kinematics and dynamics, and the results of analytical solution are verified using a simulation mechanism. This paper is aimed at laying a solid theoretical and technical foundation of development of the parallel manipulators with multi-couple constrained wrenches.
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