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Design of a Lightweight Force-Feedback Glove with a Large workspace

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Engineering 2018年第6期4卷 869-880页

作者： Yukai Zheng Dangxiao Wang Ziqi Wang Yu Zhang Yuru Zhang Weiliang Xu State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100083China Beijing Advanced Innovation Center for Biomedical Engineering Beihang UniversityBeijing 100083China Department of Mechanical Engineering University of AucklandAuckland 1142New Zealand

A wearable force-feedback glove is a promising way to enhance the immersive sensation when a user interacts with virtual objects in virtual reality *** challenges for such a glove include allowing a large fingertip workspace,providing a desired force sensation when simulating both free-and constrained-space interactions,and ensuring a lightweight *** this paper,we present a forcefeedback glove using a pneumatically actuated mechanism mounted on the dorsal side of the user’s *** means of a triple kinematic paired link with a curved sliding slot,a hybrid cam-linkage mechanism is proposed to transmit the resistance from the pneumatic piston rod to the *** order to obtain a large normal component of the feedback force on the user’s fingertip,the profile of the sliding slot was synthesized through an analysis of the force equilibrium on the triple kinematic paired link.A prototype five-fingered glove with a mass of 245 g was developed,and a wearable force-measurement system was constructed to permit the quantitative evaluation of the interaction performance in both free and constrained *** experimental results confirm that the glove can achieve an average resistance of less than 0.1 N in free-space simulation and a maximum fingertip force of 4 N in constrained-space *** experiment further confirms that this glove permits the finger to move freely to simulate typical grasping gestures.

关键词： Force-feedback glove Lightweight Large workspace Pneumatic Virtual reality

Closed form solution to the position workspace of Stewart parallel manipulators

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Science China(Technological Sciences) 1998年第4期41卷 393-403页

作者：黄田汪劲松 Department of Mechanical Engineering Tianjin University Tianjin China Department of Precision Instrument and Mechanics Tsinghua University Beijing China Department of Engineering University of Warwick Coventry UK

A novel methodology is presented for the workspace analysis of Stewart parallel manipulators. The workspace is defined that enables a description to be made in a unified framework of both the position and orientation capabilities of the mobile platform. Given the orientation capability of the mobile platform, the piecewise closed solution to the workspace boundary is formulated. It is indicated for the first time that the workspace boundary is in fact the cap of twelve envelope surfaces, each of which is generated by a family of spherical surfaces having the movable center located on a two\|branch closed spherical curve. Two examples are given to illustrate the effectiveness of this approach.

关键词： Stewart parallel manipulators workspace differential geometry set theory.

Simulation of kinematic and workspace analysis of 3-PRS parallel manipulator

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International Journal of Modeling, Simulation, and Scientific Computing 2015年第1期6卷 111-122页

作者： Y.D.Patel P.M.George Department of Mechanical Engineering A.D.Patel Institute of Technology New Vallabh Vidyanagar GujaratIndia Department of Mechanical Engineering Birla Vishvakarma Mahavidyalaya Engineering College Vallabh Vidyanagar India

In the present era,the competitive producers are forced to use maximally newer advanced technology and its effective fast implementation using various available tools for synthesis of new product *** of current state of art computer aided technology supports the creation of flexible assemblies and their built up though unified modular *** design of robotic mechanism is a complex process involving geometric,kinematic,singularity analyses during its synthesis *** present work is aimed at the effective utilization of CAx system Pro/Engineer tools for creation,ease in modifi-cation and analysis of spatial parallel *** degrees of freedom of 3-PRS parallel manipulator is obtained using mobility *** manipulator with 3-DOF with 3-PRS configuration is *** kinematics simulation of the robot is carried out using mechanism simulation and compared with closed form *** concept of reachable,orientation and dexterous workspace is *** tip coordinates obtained through simulation are plotted for workspace *** and outer workspace boundaries are developed and analyzed for four different cases to understand the problem of interior singularity within workspace.

关键词： Parallel manipulator mobility constraints workspace

Method for workspace Calculation of 6R Serial Manipulator Based on Surface Enveloping and Overlaying

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Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 556-562页

作者：王宣银丁渊明 State Key Laboratory of Fluid Power Transmission and Control Zhejiang University

Aiming at the workspace calculation problem of multi-joint serial manipulators,a surface enveloping and overlaying (SEO) method is presented to identify and visualize the manipulator *** SEO method is composed of two stages:the first stage is to choose reference points of the manipulator and calculate their boundary surfaces using the nth enveloping method;the second stage is to overlay these boundary surfaces to identify the final *** SEO method is basically a combination of the analytic method and the numerical *** delineating the graphic representation of the workspace step by step,the SEO method is easy to analyze the existence and the shape of voids and *** basic theory of the SEO method and formulas for workspace calculation are presented based on a 6R serial *** showing the workspace calculation results,the SEO method is proved working correctly.

关键词： manipulator workspace homogeneous transformation matrix (HTM) rotation transformation matrix (RTM)

workspace of Translation 3-UPU Parallel Manipulators

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Journal of Shanghai University(English Edition) 2005年第1期9卷 62-67页

作者：罗友高郑相周宾鸿赞 School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 P.R. China School of Engineering Technology Huazhong Agricultural University Wuhan 430070 P.R.China

To determine workspace and relationship between the workspace and geometry of parallel manipulator is important for optimum design of parallel manipulators. In this paper, the workspace and the relationship between the workspace and the geometry of 3-UPU parallel manipulators with pure translation are investigated. Geometric and non-geometric constraints are defined and taken account of in determining the workspace of the translation 3-UPU manipulators. A direct average condition number is used as the global performance index of the workspace. This research shows that there exists an optimal value of the direct average condition number favorable for a good design of parallel mechanisms. The results presented in this paper are useful for the optimum design of 3-UPU parallel manipulators.

关键词： UPU parallel manipulator workspace translation.

Mobility and constant-orientation workspace analysis of 4UPS-UPU parallel mechanism

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High Technology Letters 2014年第2期20卷 124-130页

作者：雷静桃 Hu Lei Cao Yuanlong Wang Tianmiao School of Mechatronic Engineering and Automation Shanghai University School of Mechanical Engineering and Automation Beihang University

One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this ***,the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory,and the motion and constraint screw systems of the parallel mechanism are *** the inverse kinematics is derived by the closed-form kinematics *** boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel ***,the influence factors relevant to the workspace,such as the structural parameters and kinematics parameters are analyzed in *** relationship between the workspace volume and different parameters are *** conclusions can be used for parameters optimization and path planning of the parallel mechanism.

关键词： parallel mechanism (PM) screw theory mobility boundary search method workspace

Simulation Study of the workspace of the Parallel Machine Tool

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Journal of Beijing Institute of Technology 2001年第2期10卷 191-196页

作者：张建民郝娟王增平北京理工大学机械工程与自动化学院北京100081

A new three dimensional simulation method is introduced to study the workspace of a 6 PSS (P denotes a prismatic kinematic pair, S denotes a spherical kinematic pair) parallel machine tool. This algorithm adopts the method of numerical analysis to investigate the boundary points in a series of sections which form the surface of the workspace. That is, to study such points that have the largest polar radius on a certain section in a system of polar coordinates according to conditions of constraint. The constraint conditions considered in the article include the maximum and minimum displacements of each dieblock, the maximum and minimum angles of oscillation in each hinge. By converting the constraint inequalities into constraint equations, the largest polar radius corresponding to every constraint condition can be evaluated and the minimum one is used to decide the boundary point. This algorithm greatly simplifies the computational process and can be used to analyze any section of the workspace. It provides a theoretical basis for the structural design of such a machine tool.

关键词： PSS parallel machine tool workspace numerical analysis three-dimensions simulation

Determination of the workspace of a new coordinate-measuring machine using parallel-link mechanism

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Journal of Harbin Institute of Technology(New Series) 2001年第2期8卷 147-154页

作者：刘得军黄庆成叶东车仁生周琳 Dept. of Electr. Eng. Daqing Pet. Inst. Anda 151400 China

Presents the detailed algorithm established for determination of workspace for a 3-DOF coordinate measuring machine using parallel link mechanism by constructing the inverse kinematic model first and then reviewing the physical and kinematical constraints from the structural characteristics of the parallel link mechanism, and discusses the actual geometries of workspace and the factors having effect on workspace through computer simulation thereby providing necessary theoretical basis for the research and development of coordinate measuring machines using parallel link mechanism.

关键词： coordinate measuring machine workspace parallel link mechanism three degrees of freedom spatial coordinate

workspace and rotational capability analysis of a spatial 3-DoF parallel manipulator

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Progress in Natural Science:Materials International 2004年第11期 60-67页

作者： LIU Xinjun 1*, WANG Jinsong 1, WANG Qiming 2 and LI Tiemin 1(1. Manufacturing Engineering Institute, Department of Precision Instruments, Tsinghua University, Beijing 100084, China 2. National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100012, China) ManufacturingEngineeringInstitute DepartmentofPrecisionInstrumentsTsinghuaUniversityBeijing100084China NationalAstronomicalObservatories ChineseAcademyofSciencesBeijing100012China

The analysis on the workspace and rotational capability of HANA, a spatial 3-DoF parallel manipulator, is concerned. The parallel manipulator consists of a base plate, a movable platform, and three connecting legs. The moving platform has three degrees of freedom (DoFs) which are two translations and one rotation, with respect to the base plate. The new parallel manipulator is very interesting for the reason of no singularity in the workspace, the single-DoF joint architecture and high rotational capability of the moving platform. The inverse kinematics problem is described in a closed-form, which is very useful to present the workspace geometrically. The constant-orientation and reachable workspaces for the manipulator are analyzed firstly. The index that is used to evaluate the rotational capability of the manipulator is defined and discussed in detail. Finally, the distribution of rotational capability index on the workspace is presented, which helps us know how much the index is at different point. The parallel manipulator has wide application in the fields of industrial robots, simulators, micro-motion manipulators, and parallel kinematics machines.

关键词： parallel manipulator singularity rotational capability workspace kinematics.