2015 Vol.28(04)

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Novel Design Solutions for Fishing Reel Mechanisms
2015, 29(04). doi: 10.3901/CJME.2015.0420.063
[Abstract](2515) [PDF 1273KB](155)
Abstract:
Currently, there are various reels on the market regarding the type of mechanism, which achieves the winding and unwinding of the line. The designers have the purpose of obtaining a linear transmission function, by means of a simple and small-sized mechanism. However, the present solutions are not satisfactory because of large deviations from linearity of the transmission function and complexity of mechanical schema. A novel solution for the reel spool mechanism is proposed. Its kinematic schema and synthesis method are described. The kinematic schema of the chosen mechanism is based on a noncircular gear in series with a scotch-yoke mechanism. The yoke is driven by a stud fixed on the driving noncircular gear. The drawbacks of other models regarding the effects occurring at the ends of the spool are eliminated through achieving an appropriate transmission function of the spool. The linear function approximation with curved end-arches appropriately computed to ensure mathematical continuity is very good. The experimental results on the mechanism model validate the theoretical approach. The developed mechanism solution is recorded under a reel spool mechanism patent.
Multi-objective Optimization of a Parallel Ankle Rehabilitation Robot Using Modified DE Algorithm
2015, 29(04). doi: 10.3901/CJME.2015.0416.062
[Abstract](2672) [PDF 2002KB](241)
Abstract:
Dimensional synthesis is one of the most difficult issues in the field of parallel robots with actuation redundancy. To deal with the optimal design of a redundantly actuated parallel robot used for ankle rehabilitation, a methodology of dimensional synthesis based on multi-objective optimization is presented. First, the dimensional synthesis of the redundant parallel robot is formulated as a nonlinear constrained multi-objective optimization problem. Then four objective functions, separately reflecting occupied space, input/output transmission and torque performances, and multi-criteria constraints, such as dimension, interference and kinematics, are defined. In consideration of the passive exercise of plantar/dorsiflexion requiring large output moment, a torque index is proposed. To cope with the actuation redundancy of the parallel robot, a new output transmission index is defined as well. The multi-objective optimization problem is solved by using a modified Differential Evolution(DE) algorithm, which is characterized by new selection and mutation strategies. Meanwhile, a special penalty method is presented to tackle the multi-criteria constraints. Finally, numerical experiments for different optimization algorithms are implemented. The computation results show that the proposed indices of output transmission and torque, and constraint handling are effective for the redundant parallel robot; the modified DE algorithm is superior to the other tested algorithms, in terms of the ability of global search and the number of non-dominated solutions. The proposed methodology of multi-objective optimization can be also applied to the dimensional synthesis of other redundantly actuated parallel robots only with rotational movements.
Comparison of Parallel Kinematic Machines with Three Translational Degrees of Freedom and Linear Actuation
2015, 29(04). doi: 10.3901/CJME.2015.0128.052
[Abstract](2520) [PDF 1024KB](203)
Abstract:
The development of new robot structures, in particular of parallel kinematic machines(PKM), is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than six degrees of freedom(DOF). However, an overall comparison and evaluation of these structures is missing. In order to compare symmetrical PKM with three translational DOF, different evaluation criteria are used. Workspace, maximum actuation forces and velocities, power, actuator stiffness, accuracy and transmission behavior are taken into account to investigate strengths and weaknesses of the PKMs. A selection scheme based on possible configurations of translational PKM including different frame configurations is presented. Moreover, an optimization method based on a genetic algorithm is described to determine the geometric parameters of the selected PKM for an exemplary load case and a prescribed workspace. The values of the mentioned criteria are determined for all considered PKM with respect to certain boundary conditions. The distribution and spreading of these values within the prescribed workspace is presented by using box plots for each criterion. Thereby, the performance characteristics of the different structures can be compared directly. The results show that there is no “best” PKM. Further inquiries such as dynamic or stiffness analysis are necessary to extend the comparison and to finally select a PKM.
Three-dimensional Construction and Omni-directional Rolling Analysis of a Novel Frame-like Lattice Modular Robot
2015, 29(04). doi: 10.3901/CJME.2015.0316.059
[Abstract](2554) [PDF 2707KB](166)
Abstract:
Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube(PE-Cube) is proposed. The three-dimensional(3D) expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom(DoFs) is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator(pneumatic cylinder) is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules’ construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules’ construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules’ construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the lattice modular robot and provide the instruction to design the lattice modular robot.
Theory of Degrees of Freedom for Parallel Mechanisms with Three Spherical Joints and Its Applications
2015, 29(04). doi: 10.3901/CJME.2015.0116.049
[Abstract](2472) [PDF 1793KB](188)
Abstract:
The analysis of degrees of freedom(DOF) of a moving platform is the fundamental problem in kinematics of parallel mechanism. However, many problems should be considered to correctly perform the DOF calculation by using the traditional DOF criterion, and it is difficult to find a DOF criterion suitable for all kinds of mechanisms. A rule that can be used to determine the position and orientation of the moving platform is presented. Based on the proposed rule, a new form of DOF criterion is proposed, which is suitable for a class of parallel mechanisms with three spherical joints attached to the moving platform. The basic types of generalized limb structures are given based on the possible dimension of achieving the center of spherical joint attached to the moving platform, and the general steps of analyzing the DOF are presented. This proposed formula simplifies the DOF analysis of parallel mechanisms with spherical joints attached to the moving platform, and plays an important role in structural synthesis of such parallel mechanisms.
Topology Search of 3-DOF Translational Parallel Manipulators with Three Identical Limbs for Leg Mechanisms
2015, 29(04). doi: 10.3901/CJME.2015.0408.060
[Abstract](2468) [PDF 1046KB](154)
Abstract:
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.
Large Deformation Analysis and Synthesis of Elastic Closed-loop Mechanism Made of a Certain Spring Wire Described by Free Curves
2015, 29(04). doi: 10.3901/CJME.2015.0506.067
[Abstract](2523) [PDF 1714KB](116)
Abstract:
Recently novel mechanisms with compact size and without many mechanical elements such as bearing are strongly required for medical devices such as surgical operation devices. This paper describes analysis and synthesis of elastic link mechanisms of a single spring beam which can be manufactured by NC coiling machines. These mechanisms are expected as disposable micro forceps. Smooth Curvature Model(SCM) with 3rd order Legendre polynomial curvature functions is applied to calculate large deformation of a curved cantilever beam by taking account of the balance between external and internal elastic forces and moments. SCM is then extended to analyze large deformation of a closed-loop curved elastic beam which is composed of multiple free curved beams. A closed-loop elastic link is divided into two free curved cantilever beams each of which is assumed as serially connected free curved cantilever beams described with SCM. The sets of coefficients of Legendre polynomials of SCM in all free curved cantilever beams are determined by taking account of the force and moment balance at connecting point where external input force is applied. The sets of coefficients of Legendre polynomials of a nonleaded closed-loop elastic link are optimized to design a link mechanism which can generate specified output motion due to input force applied at the assumed dividing point. For example, two planar micro grippers with a single pulling input force are analyzed and designed. The elastic deformation analyzed with proposed method agrees very well with that calculated with FEM. The designed micro gripper can generate the desired pinching motion. The proposed method can contribute to design compact and simple elastic mechanisms without high calculation costs.
Planetary Gear Profile Modification Design Based On Load Sharing Modelling
2015, 29(04). doi: 10.3901/CJME.2015.0307.025
[Abstract](2560) [PDF 910KB](117)
Abstract:
In order to satisfy the increasing demand on high performance planetary transmissions, an important line of research is focused on the understanding of some of the underlying phenomena involved in this mechanical system. Through the development of models capable of reproduce the system behavior, research in this area contributes to improve gear transmission insight, helping developing better maintenance practices and more efficient design processes. A planetary gear model used for the design of profile modifications ratio based on the levelling of the load sharing ratio is presented. The gear profile geometry definition, following a vectorial approach that mimics the real cutting process of gears, is thoroughly described. Teeth undercutting and hypotrochoid definition are implicitly considered, and a procedure for the incorporation of a rounding arc at the tooth tip in order to deal with corner contacts is described. A procedure for the modeling of profile deviations is presented, which can be used for the introduction of both manufacturing errors and designed profile modifications. An easy and flexible implementation of the profile deviation within the planetary model is accomplished based on the geometric overlapping. The contact force calculation and dynamic implementation used in the model are also introduced, and parameters from a real transmission for agricultural applications are presented for the application example. A set of reliefs is designed based on the levelling of the load sharing ratio for the example transmission, and finally some other important dynamic factors of the transmission are analyzed to assess the changes in the dynamic behavior with respect to the non-modified case. Thus, the main innovative aspect of the proposed planetary transmission model is the capacity of providing a simulated load sharing ratio which serves as design variable for the calculation of the tooth profile modifications.
Numerical Modeling of a Spar Platform Tethered by a Mooring Cable
2015, 29(04). doi: 10.3901/CJME.2015.0206.054
[Abstract](2552) [PDF 1198KB](206)
Abstract:
Virtual simulation is an economical and efficient method in mechanical system design. Numerical modeling of a spar platform, tethered by a mooring cable with a spherical joint is developed for the dynamic simulation of the floating structure in ocean. The geometry modeling of the spar is created using finite element methods. The submerged part of the spar bears the buoyancy, hydrodynamic drag force, and effect of the added mass and Froude-Krylov force. Strip theory is used to sum up the forces acting on the elements. The geometry modeling of the cable is established based on the lumped-mass-and-spring modeling through which the cable is divided into 10 elements. A new element-fixed local frame is used, which is created by the element orientation vector and relative velocity of the fluid, to express the loads acting on the cable. The bottom of the cable is fixed on the seabed by spring forces, while the top of the cable is connected to the bottom of the spar platform by a modified spherical joint. This system suffers the propagating wave and current in the X-direction and the linear wave theory is applied for setting of the propagating wave. Based on the numerical modeling, the displacement-load relationships are analyzed, and the simulation results of the numerical modeling are compared with those by the commercial simulation code, ProteusDS. The comparison indicates that the numerical modeling of the spar platform tethered by a mooring cable is well developed, which provides an instruction for the optimization of a floating structure tethered by a mooring cable system.
Automatic Method for Synchronizing Workpiece Frames in Twin-robot Nondestructive Testing System
2015, 29(04). doi: 10.3901/CJME.2015.0424.064
[Abstract](2501) [PDF 719KB](318)
Abstract:
The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the twin robots cannot reach the same point to complete the process of workpiece frame positioning. Thus, a new method is proposed to solve the problem of coincidence between workpiece frames. Transformation between two robot base frames is initiated by measuring the coordinate values of three non-collinear calibration points. The relationship between the workpiece frame and that of the slave robot base frame is then determined according to the known transformation of two robot base frames, as well as the relationship between the workpiece frame and that of the master robot base frame. Only one robot is required to actually measure the coordinate values of the calibration points on the workpiece. This requirement is beneficial when one of the robots cannot reach and measure the calibration points. The coordinate values of the calibration points are derived by driving the robot hand to the points and recording the values of top center point(TCP) coordinates. The translation and rotation matrices relate either the two robot base frames or the workpiece and master robot. The coordinated are solved using the measured values of the calibration points according to the Cartesian transformation principle. An optimal method is developed based on exponential mapping of Lie algebra to ensure that the rotation matrix is orthogonal. Experimental results show that this method involves fewer steps, offers significant advantages in terms of operation and time-saving. A method used to synchronize workpiece frames in twin-robot system automatically is presented.
Constraint Force Analysis of Metamorphic Joints Based on the Augmented Assur Groups
2015, 29(04). doi: 10.3901/CJME.2015.0216.056
[Abstract](2553) [PDF 898KB](203)
Abstract:
In order to obtain a simple way for the force analysis of metamorphic mechanisms, the systematic method to unify the force analysis approach of metamorphic mechanisms as that of conventional planar mechanisms is proposed. A force analysis method of metamorphic mechanisms is developed by transforming the augmented Assur groups into Assur groups, so that the force analysis problem of metamorphic mechanisms is converted into the force analysis problems of conventional planar mechanisms. The constraint force change rules and values of metamorphic joints are obtained by the proposed method, and the constraint force analysis equations of revolute metamorphic joints in augmented Assur group RRRR and prismatic metamorphic joints in augmented Assur group RRPR are deduced. The constraint force analysis is illustrated by the constrained spring force design of paper folding metamorphic mechanism, and its metamorphic working process is controlled by the spring force and geometric constraints of metamorphic joints. The results of spring force show that developped design method and approach are feasible and practical. By transforming augmented Assur groups into Assur groups, a new method for the constraint force analysis of metamorphic joints is proposed firstly to provide the basis for dynamic analysis of metamorphic mechanism.
Stiffness Analysis of Corrugated Flexure Beam Used in Compliant Mechanisms
2015, 29(04). doi: 10.3901/CJME.2015.0414.042
[Abstract](2480) [PDF 2786KB](303)
Abstract:
Conventional flexible joints generally have limited range of motion and high stress concentration. To overcome these shortcomings, corrugated flexure beam(CF beam) is designed because of its large flexibility obtained from longer overall length on the same span. The successful design of compliant mechanisms using CF beam requires manipulation of the stiffnesses as the design variables. Empirical equations of the CF beam stiffness components, except of the torsional stiffness, are obtained by curve-fitting method. The application ranges of all the parameters in each empirical equation are also discussed. The ratio of off-axis to axial stiffness is considered as a key characteristic of an effective compliant joint. And parameter study shows that the radius of semi-circular segment and the length of straight segment contribute most to the ratio. At last, CF beam is used to design translational and rotational flexible joints, which also verifies the validity of the empirical equations. CF beam with large flexibility is presented, and empirical equations of its stiffness are proposed to facilitate the design of flexible joint with large range of motion.
Decoding the Moon Phase Display Device over the Front Dial of the Antikythera Mechanism
2015, 29(04). doi: 10.3901/CJME.2015.0414.061
[Abstract](2503) [PDF 1800KB](255)
Abstract:
The Antikythera mechanism is the most famous ancient astronomical calculator. The damaged excavation is a critical constraint for decoding the mechanism completely. By the systematic reconstruction design methodology, all feasible designs of the moon phase display device, which is one of the unclear mechanisms of the Antikythera mechanism, are reconstructed. These designs, including ordinary gear trains and epicyclic gear trains, are the simplest designs and satisfy the surviving evidence. The Antikythera mechanism and its reconstruction designs presented by LIN and YAN are introduced first. Three pointer types of the Antikythera mechanism are concluded based on their display motions and the orientation of the mechanism. In accordance with the analysis of the available interior reconstruction designs and the surviving evidence, four feasible designs of the moon phase display device are generated. All of them utilize the ball pointer with black and white that rotates around the radial axis to show cyclic moon phase. Two of these four feasible reconstruction designs are driven by one input source, and their bronze disks are fixed and rotatable respectively. Both of the remaining reconstruction designs are driven by two input sources, and their bronze disks are rotatable. Therefore, the four reconstruction designs of the moon phase display device reveal all possible display conditions of the moon phase pointers and the possible purposes of the bronze disk.
Kinematic Geometry for the Saddle Line Fitting of Planar Discrete Positions
2015, 29(04). doi: 10.3901/CJME.2015.0119.050
[Abstract](2476) [PDF 1122KB](135)
Abstract:
The position synthesis of planar linkages is to locate the center point of the moving joint on a rigid link, whose trajectory is a circle or a straight line. Utilizing the min-max optimization scheme, the fitting curve needs to minimize the maximum fitting error to acquire the dimension of a planar binary P-R link. Based on the saddle point programming, the fitting straight line is determined to the planar discrete point-path traced by the point of the rigid body in planar motion. The property and evolution of the defined saddle line error can be revealed from three given separate points. A quartic algebraic equation relating the fitting error and the coordinates is derived, which agrees with the classical theory. The effect of the fourth point is discussed in three cases through the constraint equations. The multi-position saddle line error is obtained by combination and comparison from the saddle point programming. Several examples are presented to illustrate the solution process for the saddle line error of the moving plane. The saddle line error surface and the contour map presented to show the variations of the fitting error in the fixed frame. The discrete kinematic geometry is then set up to disclose the relations of the separate positions of the rigid body, the location of the tracing point on the moving body, and the position and orientation of the saddle line to the point-path. This paper presents a new analytic geometry method for saddle line fitting and provides a theoretical foundation for position synthesis.
Multi-modal Gesture Recognition using Integrated Model of Motion, Audio and Video
2015, 29(04). doi: 10.3901/CJME.2015.0202.053
[Abstract](2518) [PDF 1118KB](173)
Abstract:
Gesture recognition is used in many practical applications such as human-robot interaction, medical rehabilitation and sign language. With increasing motion sensor development, multiple data sources have become available, which leads to the rise of multi-modal gesture recognition. Since our previous approach to gesture recognition depends on a unimodal system, it is difficult to classify similar motion patterns. In order to solve this problem, a novel approach which integrates motion, audio and video models is proposed by using dataset captured by Kinect. The proposed system can recognize observed gestures by using three models. Recognition results of three models are integrated by using the proposed framework and the output becomes the final result. The motion and audio models are learned by using Hidden Markov Model. Random Forest which is the video classifier is used to learn the video model. In the experiments to test the performances of the proposed system, the motion and audio models most suitable for gesture recognition are chosen by varying feature vectors and learning methods. Additionally, the unimodal and multi-modal models are compared with respect to recognition accuracy. All the experiments are conducted on dataset provided by the competition organizer of MMGRC, which is a workshop for Multi-Modal Gesture Recognition Challenge. The comparison results show that the multi-modal model composed of three models scores the highest recognition rate. This improvement of recognition accuracy means that the complementary relationship among three models improves the accuracy of gesture recognition. The proposed system provides the application technology to understand human actions of daily life more precisely.
Optimal Dimensional Synthesis of a Symmetrical Five-Bar Planar Upper-Extremity Neuromotor Device
2015, 29(04). doi: 10.3901/CJME.2015.0301.057
[Abstract](2469) [PDF 1147KB](173)
Abstract:
Individuals with hemiplegia suffer from impaired arm movements that appear as a marked change in arm stiffness. A quantitative measure of arm stiffness would characterize rehabilitation therapy effectively, while little mechanism is designed to implement the function. A symmetrical five-bar linkage consisting of two revolute joints and three prismatic joints is presented. Inverse kinematics and forward kinematics are obtained first. Then inverse singularities and direct singularities of the mechanism are gained. The global stiffness index is defined based on the results of kinematics analysis. Finally, optimal dimensional synthesis of the mechanism in terms of maximum stiffness is conducted by genetic algorithms. The calculation results show that with the length of both the two linkage a=830 mm, the interacting angle of the two guides 2δ=4.48 radian, and the maximum range of displacement of the two carriers dmax=940 mm, the mechanism achieves highest rigidity and its workspace is singularity-free, which covers the human left and right arm range of motion. The proposed novel mechanism featuring high rigidity and a singularity-free workspace can provide rehabilitation training, also solve the problem of quantitative measure of arm stiffness.
Three-degree-of-freedom Parallel Manipulator to Track the Sun for Concentrated Solar Power Systems
2015, 29(04). doi: 10.3901/CJME.2015.0210.055
[Abstract](2544) [PDF 1070KB](594)
Abstract:
In concentrated solar power(CSP) generating stations, incident solar energy is reflected from a large number of mirrors or heliostats to a faraway receiver. In typical CSP installations, the mirror needs to be moved about two axes independently using two actuators in series with the mirror effectively mounted at a single point. A three degree-of-freedom parallel manipulator, namely the 3-RPS parallel manipulator, is proposed to track the sun. The proposed 3-RPS parallel manipulator supports the load of the mirror, structure and wind loading at three points resulting in less deflection, and thus a much larger mirror can be moved with the required tracking accuracy and without increasing the weight of the support structure. The kinematics equations to determine motion of the actuated prismatic joints in the 3-RPS parallel manipulator such that the sun’s rays are reflected on to a stationary receiver are developed. Using finite element analysis, it is shown that for same sized mirror, wind loading and maximum deflection requirement, the weight of the support structure is between 15% and 60% less with the 3-RPS parallel manipulator when compared to azimuth-elevation or the target-aligned configurations.
Type Synthesis for 4-DOF Parallel Press Mechanism Using GF Set Theory
2015, 29(04). doi: 10.3901/CJME.2015.0427.065
[Abstract](2613) [PDF 1121KB](322)
Abstract:
Parallel mechanisms is used in the large capacity servo press to avoid the over-constraint of the traditional redundant actuation. Currently, the researches mainly focus on the performance analysis for some specific parallel press mechanisms. However, the type synthesis and evaluation of parallel press mechanisms is seldom studied, especially for the four degrees of freedom(DOF) press mechanisms. The type synthesis of 4-DOF parallel press mechanisms is carried out based on the generalized function(GF) set theory. Five design criteria of 4-DOF parallel press mechanisms are firstly proposed. The general procedure of type synthesis of parallel press mechanisms is obtained, which includes number synthesis, symmetrical synthesis of constraint GF sets, decomposition of motion GF sets and design of limbs. Nine combinations of constraint GF sets of 4-DOF parallel press mechanisms, ten combinations of GF sets of active limbs, and eleven combinations of GF sets of passive limbs are synthesized. Thirty-eight kinds of press mechanisms are presented and then different structures of kinematic limbs are designed. Finally, the geometrical constraint complexity(GCC), kinematic pair complexity(KPC), and type complexity(TC) are proposed to evaluate the press types and the optimal press type is achieved. The general methodologies of type synthesis and evaluation for parallel press mechanism are suggested.
Dimensional Synthesis of a 3-DOF Parallel Manipulator with Full Circle Rotation
2015, 29(04). doi: 10.3901/CJME.2015.0122.051
[Abstract](2533) [PDF 2970KB](204)
Abstract:
Parallel robots are widely used in the academic and industrial fields. In spite of the numerous achievements in the design and dimensional synthesis of the low-mobility parallel robots, few research efforts are directed towards the asymmetric 3-DOF parallel robots whose end-effector can realize 2 translational and 1 rotational(2T1R) motion. In order to develop a manipulator with the capability of full circle rotation to enlarge the workspace, a new 2T1R parallel mechanism is proposed. The modeling approach and kinematic analysis of this proposed mechanism are investigated. Using the method of vector analysis, the inverse kinematic equations are established. This is followed by a vigorous proof that this mechanism attains an annular workspace through its circular rotation and 2 dimensional translations. Taking the first order perturbation of the kinematic equations, the error Jacobian matrix which represents the mapping relationship between the error sources of geometric parameters and the end-effector position errors is derived. With consideration of the constraint conditions of pressure angles and feasible workspace, the dimensional synthesis is conducted with a goal to minimize the global comprehensive performance index. The dimension parameters making the mechanism to have optimal error mapping and kinematic performance are obtained through the optimization algorithm. All these research achievements lay the foundation for the prototype building of such kind of parallel robots.
Compliant Mechanism Synthesis by Using Elastic Similitude
2015, 29(04). doi: 10.3901/CJME.2015.0520.069
[Abstract](2559) [PDF 1426KB](168)
Abstract:
Compliant mechanisms have several advantages, especially smaller number of elements and therefore less movable joints. The flexural members furthermore allow an integration of special functions like balancing or locking. Especially fiber reinforced materials exhibit a wide range of function integration considering their compliance in passive as well active applications. To take advantage of compliant elements in applications a robust synthesis tool is needed. The synthesis based on topology optimization method or the pseudo rigid body approach leads to complex structures. Considering the use of fiber reinforced material a synthesis approach which leads to less complex structures is more suitable. For building up simple structures, with only one cantilever beam as compliant element(B) a graphical approach using the elastic similitude is the most efficient method. A step-by-step synthesis procedure is presented to synthesize compliant mechanisms with rotatory joints(R) and prismatic joints(P) to develop RRB/PRB- and RPB-linkages. Using the elastic similitude to implement these results into a graphical synthesis algorithm is the innovation part of this paper. It can be shown that this approach leads to a comfortable handling of beam elements during the synthesis, where the two free parameters can be directly coupled to scale and fix the orientation of the beam element. This advantage inherently shortens the development process. In giving an example the focus lies of the experimental approach, which also shows that the simple BERNOULLI beam model is valid and so the synthesis by using the elastic similitude. The method is presented and discussed by using an application for a cup holder mechanism made of fiber reinforced material.
Thrust and Torque Characteristics Based on a New cutter-head Load Model
2015, 29(04). doi: 10.3901/CJME.2015.0504.066
[Abstract](2618) [PDF 1864KB](617)
Abstract:
Full face rock tunnel boring machine(TBM) has been widely used in hard rock tunnels, however, there are few published theory about cutter-head design, and the design criteria of cutter-head under complex geological is not clear yet. To deal with the complex relationship among geological parameters, cutter parameters, and operating parameters during tunneling processes, a cutter-head load model is established by using CSM(Colorado school of mines) prediction model. Force distribution on cutter-head under a certain geology is calculated with the new established load model, and result shows that inner cutters bear more force than outer cutters, combining with disc cutters abrasion; a general principle of disc cutters’ layout design is proposed. Within the model, the relationship among rock uniaxial compressive strength(UCS), penetration and thrust on cutter-head are analyzed, and the results shows that with increasing penetration, cutter thrust increases, but the growth rate slows and higher penetration makes lower special energy(SE). Finally, a fitting mathematical model of ZT(ratio of cutter-head torque and thrust) and penetration is established, and verified by TB880E, which can be used to direct how to set thrust and torque on cutter-head. When penetration is small, the cutter-head thrust is the main limiting factor in tunneling; when the penetration is large, cutter-head torque is the major limiting factor in tunneling. Based on the new cutter-head load model, thrust and torque characteristics of TBM further are researched and a new way for cutter-head layout design and TBM tunneling operations is proposed.
Test Verification and Design of the Bicycle Frame Parameters
2015, 29(04). doi: 10.3901/CJME.2015.0505.068
[Abstract](2623) [PDF 1088KB](190)
Abstract:
Research on design of bicycles is concentrated on mechanism and auto appearance design, however few on matches between the bike and the rider. Since unreasonable human-bike relationship leads to both riders’ worn-out joints and muscle injuries, the design of bicycles should focus on the matching. In order to find the best position of human-bike system, simulation experiments on riding comfort under different riding postures are done with the lifemode software employed to facilitate the cycling process as well as to obtain the best position and the size function of it. With BP neural network and GA, analyzing simulation data, conducting regression analysis of parameters on different heights and bike frames, the equation of best position of human-bike system is gained at last. In addition, after selecting testers, customized bikes based on testers’ height dimensions are produced according to the size function. By analyzing and comparing the experimental data that are collected from testers when riding common bicycles and customized bicycles, it is concluded that customized bicycles are four times even six times as comfortable as common ones. The equation of best position of human-bike system is applied to improve bikes’ function, and the new direction on future design of bicycle frame parameters is presented.
Stability Analysis for a Planar Parallel Manipulator with the Capability of Self-Coordinating the Load Distribution
2015, 29(04). doi: 10.3901/CJME.2015.0310.058
[Abstract](2497) [PDF 872KB](154)
Abstract:
Redundantly actuated parallel manipulators have the advantage of enhancing load-carrying capability over their non-redundant ones, however they also cause the problem of uneven load distribution and need a high requirement for the control system. This paper presents a 2-RPR/RP planar redundantly actuated parallel manipulator which can self-coordinate the distribution of external loads. This capability is realized by an appropriate design of the moving platform to make the manipulator stable at equilibrium position. The stability is proved by the theorem of direct Lyapunov method in classical mechanics. The numerical simulations are conducted to validate the stable capability by means of the observation of potential energies and phase planes. This paper offers an alternative way to design a redundantly actuated manipulator with the capability of self-coordinating the load distribution to actuations, such that parts of the controlling work are assigned to the manipulator itself by its own structure and only a little work remains to the control system.