Kinematics Analysis and Simulation of a New Type of Mechanical Excavator with Controllable Mechanism

2011 ◽  
Vol 201-203 ◽  
pp. 220-224 ◽  
Author(s):  
Gan Wei Cai ◽  
Zhuan Zhang ◽  
Yu Chen Pan ◽  
Du Chao Wu ◽  
Xi Yong Xu
Keyword(s):  
Simulation Study ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Maintenance Cost ◽  
Hydraulic Excavator ◽  
Kinematics Analysis ◽  
Constraint Equations ◽  
New Type

A new type of excavator is introduced in this paper aiming at solving the problems the hydraulic excavator and traditional mechanical excavator (also called Electric Shovel) have respectively, which are hydraulic leaks and high maintenance cost of the former one and the lack of flexibility of the latter one. The analysis of the proposed novel excavator is carried out including: Degree-of-Freedom (DOF) of the new mechanism by constraint screw theory, inverse kinematics using the method of constraint equations, velocities and acceleration. A simulation study is proposed based on the analysis above. Results show that: the new type of mechanical excavator has the ability to achieve flexible trajectory output within its workspace.

Parametric Design of a Spherical Eight-Bar Linkage Based on a Spherical Parallel Manipulator

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Parametric Design ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Arbitrary Base ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a procedure that determines the dimensions of two constraining links to be added to a three degree-of-freedom spherical parallel manipulator so that it becomes a one degree-of-freedom spherical (8, 10) eight-bar linkage that guides its end-effector through five task poses. The dimensions of the spherical parallel manipulator are unconstrained, which provides the freedom to specify arbitrary base attachment points as well as the opportunity to shape the overall movement of the linkage. Inverse kinematics analysis of the spherical parallel manipulator provides a set of relative poses between all of the links, which are used to formulate the synthesis equations for spherical RR chains connecting any two of these links. The analysis of the resulting spherical eight-bar linkage verifies the movement of the system.

Design and Kinematic Analysis of a Novel Machine Tool With Four Rotational Axes and One Translational Axis

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Song Gao ◽  
Jihong Chen ◽  
Shusheng Liu ◽  
Xiukun Yuan ◽  
Pengcheng Hu ◽  
...  
Keyword(s):  
Machine Tool ◽  
Kinematic Analysis ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Kinematics Analysis ◽  
Rotary Axes ◽  
Machining Quality ◽  
New Type ◽  
Kinematic Performance ◽  
Five Axis

Abstract Due to their superior machining quality, efficiency, and availability, five-axis machine tools are important for the manufacturing of complicated parts of freeform surfaces. In this study, a new type of the five-axis machine tool was designed that is composed of four rotary axes as well as one translational axis. Given the structure of the proposed machine tool, an inverse kinematics analysis was conducted analytically, and a set of methods was then proposed to address the issues in the kinematic analysis, e.g., the singularity and multi-solution problems. Compared with traditional five-axis machine tools, which are typically composed of three linear axes and two rotary axes, the proposed machine tool exhibited better kinematic performance with machining parts with hub features, such as impellers, which was validated by simulations and real cuttings.

Kinematics and dynamics analyses of a new type face-shovel hydraulic excavator

2016 ◽  
Vol 231 (5) ◽  
pp. 909-924 ◽  
Author(s):  
Huafeng Ding ◽  
Lei Han ◽  
Wenjian Yang ◽  
Chuan Wu
Keyword(s):  
Inverse Kinematics ◽  
Research Trend ◽  
Hydraulic Excavator ◽  
Important Research ◽  
Hydraulic Cylinders ◽  
New Type ◽  
Algebra Theory ◽  
Forward And Inverse Kinematics ◽  
Dynamics Analyses ◽  
Large Face

The large face-shovel hydraulic excavator is one of the significant tools in mining, and widening its range of excavating and increasing its excavating force have been an important research trend. To realize that, this paper proposes a new type face-shovel hydraulic excavator which uses stick rockers and boom linkages to effectively increase the thrust and piston travel of stick hydraulic cylinders, with analyses of its kinematic and dynamic characteristics. The structure and constructional dimensions of the excavator are presented in detail. Based on the graphical modularization and the loop algebra theory, the forward and inverse kinematics as well as the workspace is examined, after which velocities and accelerations are analyzed. The dynamic mathematical model of the excavator is developed using Kane’s equations and the equivalence principle, and it is tested through the MATLAB simulations, with a comparison with those by ADAMS. It is concluded that with the new-type face-shovel hydraulic excavator, the excavating range can be broadened and the excavating force can be raised.

A novel 4-RRCR parallel mechanism based on screw theory and its kinematics analysis

2012 ◽  
Vol 227 (9) ◽  
pp. 2039-2048 ◽  
Author(s):  
Sheng Guo ◽  
Congzhe Wang ◽  
Haibo Qu ◽  
Yuefa Fang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Elimination Method ◽  
Direct Kinematics

In this article, a novel 4-RRCR parallel mechanism is introduced based on screw theory, and its kinematics and singularity are studied systematically. First, the degree of freedom analysis is performed using the screw theory. The formulas for solving the inverse and direct kinematics are derived. Second, a recursive elimination method is proposed to solve the Jacobian matrix based on the algebra operation of reciprocal product. Then, three kinds of singularity, i.e. limb, platform, and actuation singularities are analyzed. Finally, the analysis proves that the proposed mechanism possesses two advantages of simple forward kinematics and no platform singularity.

Design and Analysis of a New Type Forging Manipulator

2017 ◽  
Author(s):  
Yanwen Li ◽  
Xiaofei Shi ◽  
Pengfei Mao ◽  
Yubo Cai ◽  
Maoling Wang
Keyword(s):  
Parallel Mechanism ◽  
Large Scale ◽  
Screw Theory ◽  
Synthesis Method ◽  
Degree Of Freedom ◽  
Lateral Movement ◽  
Kinematic Position ◽  
New Type ◽  
Forging Manipulator ◽  
Increasing Demand

Large-scale forging manipulator is the indispensable equipment in the operations of automated forging. Because of the increasing demand of forging manipulator, large and medium-sized enterprises pay more and more attention to the forging operation in production. Lower freedom parallel mechanism is obtained by using the constraint-synthesis method based on the screw theory, then a mechanism of forging manipulator is designed including raising and lowering, pitching, lateral swing, lateral movement, forth or back and clamp rotation. The new type forging manipulator is a hybrid serial-parallel mechanism. The degree of freedom of the parallel mechanism is calculated by using the modified Grübler-Kutzbach criterion, and then the degree of freedom of the machine is determined. Through closed geometric method, the kinematic position analysis is performed, and the correctness of the theoretical analysis results is verified.

scholarly journals A Six Degree of Freedom Epicyclic-Parallel Manipulator

2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Chao Chen ◽  
Thibault Gayral ◽  
Stéphane Caro ◽  
Damien Chablat ◽  
Guillaume Moroz ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Six Dof ◽  
Six Degree Of Freedom

A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind.

A New Type of Servo Direct Drive Turret Punch Press

2010 ◽  
Vol 139-141 ◽  
pp. 752-757 ◽  
Author(s):  
Kai He ◽  
Jiu Hua Li ◽  
Xie Feng Ou ◽  
Ru Xu Du
Keyword(s):  
Inverse Kinematics ◽  
Static Force ◽  
Kinematics Analysis ◽  
Direct Drive ◽  
Force Analysis ◽  
Output Force ◽  
Working Capability ◽  
New Type ◽  
Production Requirement ◽  
Punch Press

A new type of servo direct drive turret punch press is presented. A servomotor to drive the eccentric-toggle mechanism is used in our design, which combines the advantages of mechanical and hydraulic turret punch press. The displacement, velocity, and acceleration of the punch are calculated, through the kinematics analysis. So, the motion of the punch is controllable through the rotation of the servomotor. Then, the inverse kinematics analysis is studied in detail, and the corresponding motion of the servomotor can be gotten, for different punch motion curves, according to the production requirement. For example, when we design a motion of the punch for a particular stamping process, the motion of servomotor can be obtained through the inverse kinematics analysis. Finally, Output force is acquired by static force analysis, which decides the working capability of the mechanism.

scholarly journals Kinematics Analysis of a 4PRR-P Hybrid Machining Mechanism

2018 ◽  
Vol 232 ◽  
pp. 03054
Author(s):  
Wei Song ◽  
Yong Xu ◽  
Yeping Lv ◽  
Yong Liu ◽  
Zheng Liang
Keyword(s):  
Structural Design ◽  
Screw Theory ◽  
Search Algorithm ◽  
Dynamics Analysis ◽  
Kinematics Analysis ◽  
Hybrid Machining ◽  
Machining Mechanism ◽  
Scale Parameters ◽  
Kinematic Analyses ◽  
New Type

In this paper, a new type of 4PRR-P hybrid machining mechanism is presented. Based on the screw theory, the degree of freedom of the mechanism is verified. We solve the inverse position model of the the mechanism. The workspace of the mechanism is solved by the boundary search algorithm. The reasonable ranges of key scale parameters are obtained by investigating the influence of the parameters of the mechansm on its workspace. The above kinematic analyses and solving results can provide corresponding references for subsequent mechanism dynamics analysis and structural design.

Design and Analysis of a Hip Rehabilitation Mechanism

2013 ◽  
Vol 655-657 ◽  
pp. 1033-1037
Author(s):  
Ping Zhou ◽  
Qiang Wang ◽  
Li Ping Song ◽  
Shi De Zhang
Keyword(s):  
Hip Joint ◽  
Lower Limb ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Structural Features ◽  
Degree Of Freedom ◽  
Velocity Analysis ◽  
Rehabilitation Training ◽  
Electric Machinery ◽  
New Type

Studying the hip, a new type of parallel mechanism with three branches and 2DOF, 2-PSS/U asymmetric is proposed, which is based on the analysis of structural features of the human lower limb hip joint and the importance of human lower limb. A hip rehabilitation institutions, combined with Parallel Mechanism and electric machinery, is used for rehabilitation training. Calculating the degree of freedom of mechanism, verifying its degree of accuracy by means of screw theory, the Mechanism's forward position is evaluated, velocity analysis is made based on screw theory on the mechanism.

Kinematic Analysis of A Novel 2-UPU/2-URU Parallel Mechanism

2011 ◽  
Vol 317-319 ◽  
pp. 469-474
Author(s):  
Shi Hua Li ◽  
Zhi Song Wang ◽  
Chang Cheng Yu ◽  
Wen Gong
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Influence Coefficient ◽  
Performance Curve ◽  
Kinematics Analysis

Abstract. In this paper, a novel type of 2-UPU/2-URU asymmetric parallel mechanism is put forward, the degree of freedom and kinematics characteristics of the mechanism is analyzed. Firstly, based on screw theory, the degree of freedom of the mechanism is analyzed by using modified Grübler-Kutzbach formula of Degree of Freedom, the method is ingenious and simple. Then the kinematics analysis is done. Finally, the velocity and acceleration of the mechanism is analyzed by combining kinematic influence coefficient theory with imaginary mechanism method, and draw the velocity and acceleration performance curve of the mechanism with the MATLAB. This paper lays the foundation for further research of the parallel mechanism.

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