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正交式虚拟六轴机床刀架位姿的计算机模拟

系统仿真学报 2002年第1期14卷 104-106,111页

作者：路懿黄真燕山大学机器人研究中心河北秦皇岛066004

基于立式6-DOF并联Stewart平台机构的特点,对正交式虚拟六轴机床刀架的位姿进行了计算机模拟和分析,给出刀架的三维工作空间的边界曲线和曲面,确定了满足虚拟轴间非干涉条件下的刀架灵活性,以便进行刀架路径和方位的规划。

关键词：虚拟轴机床位姿工作空间刀架路径计算机模拟灵活性

STUDY OF REGULARITY OF GENERAL-LINEAR-COMPLEX SINGULARITY OF 3/6-STEWART MECHANISM

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Chinese Journal of Mechanical Engineering 2003年第3期16卷 325-328页

作者： Li Yanwen huang zhenrobotics research center,yanshan university,qinhuangdao 066004, china robotics research center Yanshan University Qinhuangdao 066004

The general-linear-complex singularity of Stewart mechanism is a veryimportant problem in the parallel manipulator. Its general regularity is not found yet during thepast two decades. St-Onge and Gosselin pointed Out that the singularity locus of the Stewartmechanism at some given orientations of the moving platform should be polynomial expressions withvaried degrees in 2000, but they didn't formulate the expression. Based on the kinematicssingularity principle and the geometry condition proposed by huang zhen in 1999, firstly thesingularity equation in degree two is derived. It is a hyperbola when the orientation of the movingplatform is given. This result is also proved using screw theory. Then some singularity surfaces aregotten in three-dimensional space. This result is of important significance.

关键词： Stewart mechanism General-linear-complex Singular configuration

KINEMATICS OF 3-DOF PYRAMID MANIPULATOR BY PRINCIPAL SCREWS

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Chinese Journal of Mechanical Engineering 2001年第2期14卷 116-120页

作者： huang zhen Wang Jing robotics research center, yanshan university 燕山大学机器人研究中心河北秦皇岛

Kinematics of a 3 RPS parallel pyramid manipulator are investigated by principal screw. Firstly, the principal screws are identified by quadric degeneration. The planar conics representing the relations between the pitches and the three linear inputs are described, and the three dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully.

关键词： Parallel manipulator Kinematics Principal screw

Novel intelligent reasoning system for tool wear prediction and parameter optimization in intelligent milling

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Advances in Manufacturing 2024年第1期12卷 76-93页

作者： Long-Hua Xu Chuan-zhen huang zhen Wang Han-Lian Liu Shui-Quan huang Jun Wang School of Mechanical Engineering Yanshan UniversityQinhuangdao066004HebeiPeople’s Republic of China center for Advanced Jet Engineering Technologies(CaJET) Key Laboratory of High-efficiency and Clean Mechanical Manufacture(Ministry of Education)National Experimental Teaching Demonstration Center for Mechanical Engineering(Shandong University)School of Mechanical EngineeringShandong UniversityJinan250061People’s Republic of China Institute of Manufacturing Technology Guangdong University of TechnologyGuangzhou510006People’s Republic of China

Accurate intelligent reasoning systems are vital for intelligent *** this study,a new intelligent reasoning system was developed for milling processes to accurately predict tool wear and dynamically optimize machining *** developed system consists of a self-learning algorithm with an improved particle swarm optimization(IPSO)learning algorithm,prediction model determined by an improved case-based reasoning(ICBR)method,and optimization model containing an improved adaptive neural fuzzy inference system(IANFIS)and *** results showed that the IPSO algorithm exhibited the best global convergence *** ICBR method was observed to have a better performance in predicting tool wear than standard CBR *** IANFIS model,in combination with IPSO,enabled the optimization of multiple objectives,thus generating optimal milling *** paper offers a practical approach to developing accurate intelligent reasoning systems for sustainable and intelligent manufacturing.

关键词： Improved particle swarm optimization(IPSO)algorithm Improved case-based reasoning(ICBR)method Adaptive neural fuzzy inference system(ANFIS)model Tool wear prediction Intelligent manufacturing

Orientation-Singularity Representation and Orientation-Capability Computation of a Special Class of the Gough-Stewart Parallel Mechanisms Using Unit Quaternion

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Chinese Journal of Mechanical Engineering 2012年第6期25卷 1096-1104页

作者： LI Baokun1, 2, CAO Yi1, 3, *, ZHANG Qiuju1, and huang zhen4 1 School of Mechanical Engineering, Jiangnan university, Wuxi 214122, china 2 School of Mechanical Engineering, Anhui university of Science and Technology, Huainan 232001, china 3 State Key Laboratory of Fluid Power Transmission and Control, Hangzhou 310027, china 4 robotics research center, yanshan university, qinhuangdao 066004, china 1. School of Mechanical Engineering Jiangnan University Wuxi 214122 China 2. School of Mechanical Engineering Anhui University of Science and Technology Huainan 232001 China 3. State Key Laboratory of Fluid Power Transmission and Control Hangzhou 310027 China 4. robotics research center Yanshan University Qinhuangdao 066004 China

Singular configuration seriously affects the performance of the Gough-Stewart parallel mechanism and has attracted many researchers’ attentions. However, most of existing topics often focus on the position-singularity of the mechanism for a constant-orientation, but few reports research the orientation-singularity for a given position. In order to investigate the orientation-singularity of the Gough-Stewart parallel mechanisms with two dissimilar semi-regular hexagonal platforms for a given position, after constructing the discrimination matrix of the singular configuration of the mechanism and computing the determinant of this matrix by using unit quaternion as the orientation parameters which can avoid the singularities in parameterization, a general symbolic expression representing the three-dimensional orientation-singularity locus for a given position is obtained and the three-dimensional view of the orientation-singularity locus is further described. The orientation-singularity-free void exists inside the orientation-singularity locus, but the shape of the orientation-singularity-free void is irregular and inconvenient for the design of the mechanism. The minimal inscribed sphere of the three-dimensional orientation-singularity locus namely the orientation-singularity-free ball is described. The radius of the ball orientation-capability is used as the measurement for the orientation-singularity-free void size. A new efficient algorithm is proposed for the computation of the orientation-capability. Finally, the influences of the geometry parameters and the different positions of the mechanism on the orientation-capability are discussed. A new method of the singularity analysis of the Gough-Stewart parallel mechanism is advanced based on the unit quaternion, and the research finds have important referential value for the configuration parameters optimization of this class of the parallel mechanisms with the goal of having the maximal singularity-free zone.

关键词： parallel mechanism unit quaternion orientation-singularity orientation-singularity-free void orientation-capability

Type synthesis of parallel mechanisms with three translational degrees of freedom

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Progress in Natural Science:Materials International 2003年第7期 58-67页

作者： YU Jingjun , ZHAO Tieshi, BI Shusheng, ZONG Guanghua and huang zhen (1. robotics Institute, Beijing university of Aeronautics & Astronautics, Beijing 100083, china 2. robotics research center, yanshan university, qinhuangdao 066004, china) robotics Institute Beijing University of Aeronautics & Astronautics Beijing 100083 China robotics research center Yanshan University Qinhuangdao 066004 China

A simple but effective type synthesis method for spatial parallel mechanisms with three translational degrees of freedom (DOF) based on the screw theory is presented. Firstly all possible connecting-chain structures of three-DOF parallel mechanisms are enumerated. According to the reciprocal relationship between screw constraint forces and the motion screw, a novel synthesis method is presented. By using this method, type synthesis for translational three-DOF parallel mechanisms has been made in a systematic and detailed way. As a result, dozens of novel parallel mechanisms generating spatial translation have been obtained. To verify the significance of type synthesis for this kind of mechanism, this paper also gives an example of application, which is used for a micromanipulator for manipulating cells.

关键词： type synthesis parallel mechanism screw theory micromanipulator degree of freedom.

Property Identification of the Singularity Loci of the 6/6-Stewart Manipulator

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Property Identification of the Singularity Loci of the 6/6-S...

Velocity and Acceleration Performance Indices Analysis of Spatial 2-loop Mechanism RSSR-SC

第十四届全国机构学学术研讨会暨第二届海峡两岸机构学学术交流会

作者： Cao Yi huang zhen Ding Huafeng (robotics research center,yanshan university,Qinghuangdao,Hebei,066004,china)

This paper addressed the problem of identifying the property of the singularity loci of the 6/6-Stewart *** singularity locus equation of the manipulator can be obtained by setting the determinant of the Jacobian matrix be *** singularity loci for different orientations are illustrated with *** singularity locus equation of the manipulator with respect to the oblique plane is derived either which is a polynomial expression of two *** shows that the singularity loci of the manipulator in the parallel oblique planes are hyperbolas accompanied with four pairs of intersecting straight Lines and a *** geometric interpretations and the properties of the singularity loci are further analyzed.

关键词： parallel manipulator singularity loci property identification

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Velocity and Acceleration Performance Indices Analysis of Sp...

Orientation Singularity and Orientation Capability Analysis of Stewart Platform Based on Unit Quaternion

第十一届IFTOMM世界大会

作者： X. J. Guo S. J. Zhu Z. huang robotics research center yanshan university qinhuangdao 066004 china

＜正＞Base on the spatial mechanism RSSR-SC, velocity and acceleration performance indices have been presented in this paper. According to the analysis for the relation between indices and sizes of the mechanism, the principle of design is advanced here. Also we choose the mechanism which have better performance in a group of mechanisms.

关键词： Influence coefficient matrix Performance index Parallel manipulators

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Orientation Singularity and Orientation Capability Analysis ...