Analysis of Static and Optimization of Structural Parameters for a Novel Leg Mechanism

2013 ◽  
Vol 646 ◽  
pp. 144-149 ◽  
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Performance Evaluation ◽  
Structural Parameters ◽  
Evaluation Index ◽  
Space Model ◽  
Work Spaces ◽  
Calculation Process ◽  
Structural Dimensions ◽  
Performance Atlas ◽  
Static Performance ◽  
Performance Evaluation Index

In order to increase wosrkspace and carrying capacity of leg mechanism and improve popularity and adaptability of leg mechanism, a novel mechanism is proposed which has three branches of 6-DOF, which used 3-UPS parallel mechanism as the prototype of the mechanism. The static performance of the leg mechanism is analyzed and the structure parameters are designed. First, the static transmission equation of the leg mechanism is established by using the principle of virtual works which simplifies the calculation process of the leg mechanism. Further, the static performance evaluation index and the global torque performance evaluation index are defined, and the performance atlas of the static performance evaluation index is plotted at the work spaces of the leg mechanism. Moreover, by using of the space model theory, the structural dimensions parameters are optimized of the leg mechanism. Finally, using a set of optimal structural dimensions parameters and the virtual prototype of leg mechanism is designed. The research provides a theoretical basis for further investigation on leg mechanism.

Kinematics Analysis and Design of a Novel Robot Shoulder Joint

2013 ◽  
Vol 646 ◽  
pp. 139-143
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Performance Evaluation ◽  
Performance Index ◽  
Shoulder Joint ◽  
Evaluation Index ◽  
Analysis And Design ◽  
Work Spaces ◽  
Global Performance ◽  
Performance Atlas ◽  
Spherical Parallel Mechanism ◽  
Performance Evaluation Index

Kinematics research of mechanism is very important, the dynamic analysis and the design are based on kinematical analysis. In this paper, a novel robot shoulder joint based on 3-RRR orthogonal spherical parallel mechanism is proposed, and the kinematics transmission equation of shoulder joint is derived by using the kinematics inverse solution, and Jacobin matrix is established. Then Jacobin matrix is introduced into the global performance index, and the velocity of global performance evaluation index is defined. Furthermore, the shoulder joint dimensions are changed, and the global performance index is analyzed, then a performance atlas is given at the work spaces of shoulder joint with different dimension. It is found that the Jacobin matrix has more important influence on the kinematics performance of the shoulder joint. Having a good kinematics performance, structure dimensions ranges of shoulder joint are gained, thus the evaluation of kinematics of shoulder joint is more comprehensive. Finally, a novel robot shoulder joint is designed with the kinematics performance evaluation index.

Analysis on the Impact of the Error Mapping for Structural Parameters of Parallel Machine Tool

2011 ◽  
Vol 188 ◽  
pp. 515-520 ◽  
Author(s):  
Yong Geng Wei ◽  
Zhong Xian Wang
Keyword(s):  
Performance Evaluation ◽  
Machine Tool ◽  
Attitude Change ◽  
Structural Parameters ◽  
Parallel Machine ◽  
Evaluation Index ◽  
Performance Evaluation Index ◽  
Moving Platform ◽  
Parallel Machine Tool ◽  
The Impact

In order to improve the 6-DOF parallel machine tool motion accuracy and reduce error, the impact of the error mapping for Structural Parameters of Parallel Machine Tool is analyzed. The fixing platform and the moving platform of 6-DOF PMT are linked by six variable-length rod with the kinematic pair (hooke hinge or hooke hinge). By changing the length of the drive rod, causing moving platform position and attitude change, a variety of motion can be simulated and emulated. If the cut tool is installed on the moving platform, the various surface parts can be machined, shown in Figure 1. The above figure shown, in order to obtain the moving platform trajectory, we need measure hooke hinge space position of the fixing platform and the moving platform[1]. There are 6 hooke hinges on the fixing platform and there are 3 parameters (x, y, z) on every hooke hinge. There are 6 hooke hinges on the moving platform and there are 3 parameters (x, y, z) on every hooke hinge. So a total of 12 hooke hinges positions (36 parameters) need be measured. Due to the actual processing, assembly and measurement error, the actual measured values and theoretical values for 36 parameters can not be a complete match and lead to the moving platform errors. This paper will study the 36 parameters on the impact of mapping errors. Firstly, the error mapping formula between drive rod and the moving platform for PMT is established, secondly the performance evaluation index of the error mapping is deducted, and then the relationship between 36 parameters and the error mapping index is established. At last, to the different types of PMT structures and structural parameters, the ideal structural parameters with the aid of the performance evaluation index are optimized.

Statics Analysis and Design of the 6-DOF Lower Limb Bionic Leg

2016 ◽  
Vol 26 ◽  
pp. 1-12 ◽  
Author(s):  
Li Wen Chen ◽  
Bing Yan Cui ◽  
Zhi Jun Wang ◽  
Ling Chao Meng ◽  
Zhan Xian Li
Keyword(s):  
Performance Evaluation ◽  
Carrying Capacity ◽  
Lower Limb ◽  
Evaluation Index ◽  
Structure Parameters ◽  
Transmission Performance ◽  
Analysis And Design ◽  
Static Performance ◽  
Performance Evaluation Index ◽  
Moving Platform

In order to improve ability of walking and crossing the barriers , increase the carrying capacity, and enhance its popularity and adaptability, a novel lower limb bionic leg is presented based on 3-UPS parallel mechanism, which has the characteristics of movement flexible and strong adaptability. It is very important analysis to statics of lower limb bionic leg. Firstly, statics equation of the lower limb bionic leg of driving force and output force is established based on virtual work principle. Secondly, static performance evaluation index is defined and the evaluation index distribution map is drawn. The relationship between the structure parameters and the static performance evaluation indexes is analyzed, obtained the influence of structure parameters on the static performance evaluation index, and a set of reasonable structural parameters is selected. The circum-radius of moving platform is 50mm, the circum-radius of the static platform is 150mm, the moving platform angle and static platform angle are equal to 60°, the lower limb bionic leg has the best load carrying capacity. Thirdly, the lower limb bionic leg is designed based on statics analysis and structure parameters optimization. Analysis results show that the lower limb bionic leg has good static transmission performance at the initial position, and the static transmission performance decreases with increasing turning workspace. The static transmission performance decreases with z axle displacement increasing. The analysis results laid a foundation for further analysis and research of the lower limb bionic leg.

Analysis of Performance Evaluation Index for bridge group networking monitoring and collaborative supervision

2021 ◽  
Author(s):  
Liye Zhang ◽  
Yong He ◽  
Shoushan Cheng ◽  
Guoliang Wang ◽  
Hongwei Ren ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Evaluation Method ◽  
Field Testing ◽  
Technical Condition ◽  
Evaluation Index ◽  
Technical Problems ◽  
Condition Evaluation ◽  
Bridge Group ◽  
Performance Evaluation Index ◽  
And Performance

<p>With the number of bridges increases, the bridge health monitoring (BHM) technique is developing from single bridge monitoring to collaborative supervision of bridge group. Therefore, there are many technical problems need to be solved especially the performance evaluation index for bridge group network. This paper analyses the performance evaluation index of the bridges and bridge group network, establishes the performance evaluation index for bridge group based on rating factor (RF) and technical condition evaluation index. Based on bridge field testing and monitoring data, bridge technical condition evaluation index and performance evaluation method for bridge group are proposed. A case study demonstrates that the research results provide support for bridge group networking monitoring and collaborative supervision.</p>

scholarly journals Interactive Application of Virtual Reality and Intelligent Big Data in Landscape Design

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Huashan Zhan
Keyword(s):  
Big Data ◽  
Performance Evaluation ◽  
Research Method ◽  
Landscape Design ◽  
Simulation System ◽  
Evaluation Index System ◽  
Evaluation Index ◽  
Bp Network ◽  
Performance Evaluation Index ◽  
Interactive Application

In order to improve the accuracy and efficiency of performance evaluation, the interactive application of virtual reality and intelligent big data in landscape design is proposed. Clara algorithm is used to mine the performance evaluation index data of landscape simulation design. The performance evaluation index system of landscape simulation system is established based on the data mined. BP network is used to build a comprehensive evaluation model. The expert scoring method is the evaluation index system scoring, which is used as the input of BP network, and the expected output is a neuron. The value of the neuron represents the comprehensive performance evaluation value of the landscape simulation system. The experimental results show that the evaluation results of the research method are consistent with the expert evaluation results, with high accuracy; with the increasing number of systems, the evaluation efficiency of the research method is faster.

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