|
|
|
题名
|
作者
|
年代
|
出处
|
被引量
|
| 1 | Displacement manifold method for type synthesis of lower-mobility parallel mechanisms显示文摘Type synthesis of lower-mobility parallel mechanisms is a hot and frontier topic in international academic and industrial field. Based on the Lie group theory, a displacement manifold synthesis method is proposed. For all the nine kinds of lower-mobility parallel mechanisms, the mechanism displacement manifold, limb displacement manifold and the geometrical conditions which guarantee that the intersection of the limb displacement manifold is the desired mechanism displacement manifold are enumerated. Various limb kinematic chains can be obtained using the product closure of displacement subgroup. Parallel mechanisms can be constructed with these limbs while obeying the geometrical conditions. Hence, all the nine kinds of lower-mobility parallel mechanisms can be synthesized using this method. Since displacement manifold deals with finite motion, the result mechanism of synthesis have full-cycle mobility. Novel architectures of lower-mobility parallel mechanisms can be obtained using this method. | LI Qinchuan HUANG Zhen Jacques Marie Hervé | 2004 | Science China(Technological Sciences)2004，47，6： | 28 |
| 2 | Singularity Analysis of a 3-RPS Parallel Manipulator Using Geometric Algebra显示文摘Singular configurations must be avoided in path planning and control of a parallel manipulator. However, most studies rarely focus on an overall singularity loci distribution of lower-mobility parallel mechanisms. Geometric algebra is employed in analysis of singularity of a 3-RPS parallel manipulator. Twist and wrench in screw theory are represented in geometric algebra. Linear dependency of twists and wrenches are described by outer product in geometric algebra. Reciprocity between twists and constraint wrenches are reflected by duality. To compute the positions of the three spherical joints of the 3-RPS parallel manipulator, Tilt-and-Torsion angles are used to describe the orientation of the moving platform. The outer product of twists and constraint wrenches is used as an index for closeness to singularity(ICS) of the 3-RPS parallel manipulator. An overall and thorough perspective of the singularity loci distribution of the 3-RPS parallel manipulator is disclosed, which is helpful to design, trajectory planning and control of this kind of parallel manipulator. | LI Qinchuan XIANG Ji'nan CHAI Xinxue WU Chuanyu | 2015 | Chinese Journal of Mechanical Engineering2015，28，6： | 12 |
| 3 | New Family of RPR-Equivalent Parallel Mechanisms:Design and Application显示文摘Parallel mechanisms(PMs)have been used as skeletons or end-effectors in various advanced manufacturing equipment.Compared with their serial counterparts,PMs offer high rigidity,good dynamic response,and large payload capability.Three-degrees-of-freedom(DOFs)parallel mechanisms with two rotational and one translational(2R1T)motion are particularly useful,such as | Qinchuan LI Lingmin XU Qiaohong CHEN Wei YE | 2017 | Chinese Journal of Mechanical Engineering2017，30，2： | 12 |
| 4 | Mobility,Constraint Singularity and Isotropy of the 3-R Translational Parallel Mechanism显示文摘The non-overconstrained 3-degrees of freedom(DOF) translational parallel mechanism(TPM) has received much attention due to its advantages in reduced cost of fabrication and assembly. Researches are being conducted in the area of type synthesis, kinematic analysis and dimensional synthesis. Mobility, constraint singularity and isotropy of a 3-R non-overconstrained TPM are studied, where P denote the prismatic pair, R the revolute pair and the overline indicates the same axis direction of the kinematic pair. The different arrangements of the three limbs affect the kinematic performance of this kind of TPM. First, the mobility analysis, actuation selection, and the constraint singularity of the general 3-R TPM are conducted based on screw theory. For a general 3-R TPM, the three prismatic pairs cannot be chosen as actuators and two kinds of constraint singularities are identified. In the first constraint singularity, the moving platform has four instantaneous DOFs. In the second constraint singularity, the moving platform has five instantaneous DOFs. Then, an orthogonal 3-R TPM is proposed, which can be actuated by three prismatic pairs and has no constraint singularities. Further, the forward and inverse kinematic analysis of the orthogonal TPM are presented. The input-output equations of the orthogonal TPM are totally decoupled. The full isotropy of the orthogonal TPM is proved by establishing the Jacobian matrix , which is an identity 3×3 diagonal matrix in the whole workspace. The orthogonal3-R TPM has great potential in application like fast pick-and-place manipulator, parallel machine and micro-motion manipulator. | CHEN Qiaohong LI Qinchuan WU Chuanyu LI Yi | 2009 | Chinese Journal of Mechanical Engineering2009，22，6： | 7 |
| 5 | Type Synthesis of Lower Mobility Parallel Mechanisms: A Review显示文摘Type synthesis of mechanisms aims to systematically determine all possible structures for a specific mobility requirement. Numerous methods based on di erent theories were proposed for type synthesis of lower mobility parallel mechanisms in past decades. However, there does not exist a comprehensive review on these approaches. Therefore, the goal of this paper is to give such a review, classifying the approaches proposed in the literature into three groups, namely, motion-based methods, constraint-based methods, and other methods. The motion-based methods include the Lie group based method, the GF set method, the linear transformation method, the POC set method,and the finite screw method. The constraint-based methods involve the screw theory-based method, the virtual chain method, the method based on Grassmann line geometry and line graphs, and the motion constraint generator method. Other methods contain the enumeration approach based on the general CGK mobility formula and the graph theory method. Upon thoroughly analyzing the characteristics and/or limitations of each method, this review provides a well reference to help researchers find an e ective synthesis method for innovative design and further scientific investigations for mechanisms. | Wei Ye Qinchuan Li | 2019 | Chinese Journal of Mechanical Engineering2019，32，2： | 6 |
| 6 | Effects of PyC shell thickness on the microstructure,ablation resistance of SiCnws/PyC-C/C-ZrC-SiC composites显示文摘SiC nanowires/pyrocarbon(SiCnws/PyC)core-shell structure toughenedC/C-ZrC-SiC composites were fabricated by CLVD process,and the influences of PyC shell thickness on the microstructure and ablation resistance of the composites were researched.The results presented that SiCnws/PyC core-shell structure had a linear shape,and the composites became dense with the increasing PyC thickness.When the thickness of PyC shell increased from 0 to 2.4μm,the density and thermal conductivity of the composites was improved gradually,but the coefficient of thermal expansion(CTE)decreased firstly and then increased.After the ablation test for 90 s,the ablation rates of the composites decreased continuously as the PyC thickness increased from 0 to 1.4μm,but increased when the PyC thickness was up to 2.4μm.Especially when the PyC thickness was 1.4μm,the linear and mass ablation rates of the composites were 71.25%and 63.01%lower than those of the composites without PyC shell.The reasons behind the remarkable improvement of anti-ablation property were that the proper PyC thickness could alleviate the CTE mismatch to promote the formation of complete oxide coating,improve the thermal conductivity to reduce heat corrosion and enhance the capability to limit the mechanical erosion. | Qinchuan He Hejun Li Xuemin Yin Jinhua Lu | 2021 | Journal of Materials Science & Technology2021，，12： | 4 |
| 7 | Parasitic Motion Comparison of 3-PRS Paralle lmechanism with Dif- ferent Limb Arrangements 显示文摘 | LI Qinchuan CHEN Zhi CHEN Qiaohong | 2011 | Robotics and Computer-In- tegrated Manufacturing2011，27，： | 1 |
| 8 | General method for type synthesis of lower-mobility symmetrical parallel manipulators and several novel manipulators显示文摘 | HUANG Zhen LI Qinchuan | | 0，，02： | 1 |
| 9 | Type synthesis principle of minor-mobility parallel manipulators 显示文摘 | HUANG Zhen LI Qinchuan | 2002 | Science in China Series E2002，45，3： | 1 |
| 10 | Type synthesis of symmetrical lower-mobility parallel mechanisms using constraint-synthesis method显示文摘 | HUANG Zhen LI Qinchuan | 2003 | The International Journal of Robotics Research2003，22，1： | 1 |
| 11 | Type synthesis of 3R2T 5-DOF parallel mechanisms using the lie group of displacements显示文摘 | LI Qinchuan HUANG Zhen HERVE J M | 2004 | IEEE Transactions on Robotics and Automation2004，20，2： | 1 |
| 12 | Type synthesis of symmetrical lower-mobility parallel mechanisms using constraint-synthesis method显示文摘 | HUANG Zhen LI Qinchuan | 2003 | The International Journal of Robotics Research2003，22，1： | 1 |
| 13 | Type synthesis of symmetrical lower- mobility parallel mechanisms using constraint-synthesis method 显示文摘 | Huang Zhen Li Qinchuan | 2003 | International Journal of Robotics Research2003，22，1： | 1 |
| 14 | Type synthesis of symmetrical lower-mobility parallel mechanisms using constraint-synthesis method显示文摘 | HUANG Zhen LI Qinchuan | 2003 | International Journal of Robotics Research2003，22，1： | 1 |
| 15 | A family of symmetrical lower-mobility parallel mechanisms with spherical and parallel subchains显示文摘 | LI Qinchuan HUANG Zhen | 2003 | Journal of Robotic Systems2003，20，6： | 1 |
| 16 | General methodology for type synthesis of lower-mobility symmetrical parallel manipulators and several novel manipulators显示文摘 | HUANG Zhen LI Qinchuan | 2002 | International Journal of Robotics Research2002，21，2： | 1 |
| 17 | Type synthesis of symmetrical lower-mobility parallel mechanisms using constraint-synthesis method 显示文摘 | HUANG Zhen LI Qinchuan | 2003 | The International Journal of Robotics Research2003，22，1： | 1 |
| 18 | Type Synthesis Principle of Minor-mobility Parallel Manipulators显示文摘 | Li Qinchuan | 2002 | Science in China(E)2002，45，3： | 1 |
| 19 | General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators显示文摘 | HUANG Zhen LI Qinchuan | 2002 | The International Journal of Robotics Research2002，21，2： | 1 |
| 20 | Type Synthesis of 3R2T 5--DOF Parallel Mechanisms Using the Lie Group of Displacements显示文摘 | Li Qinchuan Huang Zhen Jacques M H | 2004 | IEEE Transactions on Robotics and Automation2004，20，2： | 1 |
您所在的机构暂未开通此部分的功能，请联系管理员