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Topology Search of 3-DOF Translational Parallel Manipulators with Three Identical Limbs for Leg Mechanisms

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Chinese Journal of Mechanical Engineering 2015年第4期28卷 666-675页

作者： WANG Mingfeng CECCARELLI Marco LARM:laboratory of robotics and mechatronics University of Cassino and South Latium

Three-degree of freedom（3-DOF） translational parallel manipulators（TPMs） have been widely studied both in industry and academia in the past decades. However, most architectures of 3-DOF TPMs are created mainly on designers＇ intuition, empirical knowledge, or associative reasoning and the topology synthesis researches of 3-DOF TPMs are still limited. In order to find out the atlas of designs for 3-DOF TPMs, a topology search is presented for enumeration of 3-DOF TPMs whose limbs can be modeled as 5-DOF serial chains. The proposed topology search of 3-DOF TPMs is aimed to overcome the sensitivities of the design solution of a 3-DOF TPM for a LARM leg mechanism in a biped robot. The topology search, which is based on the concept of generation and specialization in graph theory, is reported as a step-by-step procedure with desired specifications, principle and rules of generalization, design requirements and constraints, and algorithm of number synthesis. In order to obtain new feasible designs for a chosen example and to limit the search domain under general considerations, one topological generalized kinematic chain is chosen to be specialized. An atlas of new feasible designs is obtained and analyzed for a specific solution as leg mechanisms. The proposed methodology provides a topology search for 3-DOF TPMs for leg mechanisms, but it can be also expanded for other applications and tasks.

关键词： topology search 3-DOF translational parallel manipulators(TPMs) creative design leg mechanisms

LARM PKM solutions for torso design in humanoid robots

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Frontiers of Mechanical Engineering 2014年第4期9卷 308-316页

作者： Marco CECCARELLI laboratory of robotics and mechatronics University of Cassino andSouth Latium Cassino 03043 Italy

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at laboratory of robotics and mechatronics （LARM） in cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

关键词： humanoid robots torso design parallelmanipulators (PKM) conceptual design

Experimental Characterization of a Binary Actuated Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2016年第3期29卷 445-453页

作者： CARBONE GIUSEPPE Department of Engineering and Mathematics Sheffield Hallam UniversitySheffieldUnited Kingdom laboratory of robotics and mechatronics University of Cassino and South LatiumCassino(Fr)Italy

This paper describes the BAPAMAN（Binary Actuated Parallel MANipulator） series of parallel manipulators that has been conceived at laboratory of robotics and mechatronics（LARM）. Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy（SMA） actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

关键词： parallel manipulators binary actuation experimental characterization

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

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Frontiers of Mechanical Engineering 2016年第2期11卷 144-158页

作者： Mingfeng WANG Marco CECCARELLI Giuseppe CARBONE School Of Mechanical and Electrical Engineering Central SouthUniversity Changsha 410083 China laboratory of robotics andmechatronics (LARM) DICeM University of Cassino and SouthLatium Cassino 03043 Italy laboratory of robotics and mechatronics (LARM) DICeM Universityof Cassino and South Latium Cassino 03043 Italy

A feasibility study on the mechanical design and walking operation of a cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in *** environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

关键词： feasibility study biped locomotor bipedwalking mechanical design dynamic simulation tripodleg mechanism 3-UPU parallel manipulator

Design Considerations for an Underactuated Robotic Finger Mechanism

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Chinese Journal of Mechanical Engineering 2009年第4期22卷 475-488页

作者： YAO Shuangji CECCARELLI Marco ZHAN Qiang CARBONE Giuseppe LU Zhen School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100191 China laboratory of robotics and mechatronics （LARM） University of Cassino Cassino （Fr）.Italy robotics Institute Beijing University of Aeronautics and Astronautics Beijing 100191 China

A design approach is presented in this paper for underactuation in robotic finger mechanisms. The characters of underactuated finger mechanisms are introduced as based on linkage and spring systems. The feature of self-adaptive enveloping grasp by underactuated finger mechanisms is discussed with feasible in grasping unknown objects. The design problem of robotic fingers is analyzed by looking at many aspects for an optimal functionality. Design problems and requirements for underactuated mechanisms are formulated as related to human-like robotic fingers. In particular, characteristics of finger mechanisms are analyzed and optimality criteria are summarized with the aim to formulate a general design algorithm. A general multi-objective optimization design approach is applied as based on a suitable optimization problem by using suitable expressions of optimality criteria. An example is illustrated as an improvement of finger mechanism in laboratory of robotics and mechatronics （LARM） Hand. Results of design outputs and grasp simulations are reported with the aim to show the practical feasibility of the proposed concepts and computations.

关键词： robotic fingers underactuated mechanisms design algorithms optimality criteria .

Design issues for human-machine platform interface in cable-based parallel manipulators for physiotherapy applications

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Journal of Zhejiang university-Science A(Applied Physics & Engineering) 2010年第4期11卷 231-239页

作者： Marco CECCARELLI Lotfi ROMDHANE laboratory of robotics and mechatronics DIMSATUniversity of Cassino-CassinoItaly Département de Mécanique Avancée Ecole Nationale d'Ingénieurs de SousseTunisia

We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy *** an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist *** date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient *** specific examples are illustrated from the authors' experience with prototypes available at laboratory of robotics and mechatronics (LARM),Italy.

关键词： Robot design Robot applications Cable-based parallel manipulators Human-machine mechanical interfaces

An experimental characterization of human torso motion

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Frontiers of Mechanical Engineering 2015年第4期10卷 311-325页

作者： CAFOLLA CECCARELLI I-Ming CHEN LARM laboratory of robotics and mechatronics DICEM Universityof Cassino and South Latium Cassino Italy School of Mechanical and Aerospace Engineering NanyangTechnological University Singapore

The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.

关键词： experimental biomechanics human torso,analysis inertial sensor characterization

Closed-Form Modeling and Analysis of an XY Flexure-Based Nano-Manipulator

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Chinese Journal of Mechanical Engineering 2018年第1期31卷 176-186页

作者： Yan-Ding Qin Xin Zhao Bijan Shirinzadeh Yan-Ling Tian Da-Wei Zhang Institute of robotics and Automatic Information System (Tianjin Key laboratory of Intelligent robotics) Nankai University robotics and mechatronics Research laboratory Department of Mechanical and Aerospace Engineering Monash University School of Mechanical Engineering Tianjin University

Flexure-based mechanisms are widely utilized in nano manipulations. The closed-form statics and dynamics modeling is difficult due to the complex topologies, the inevitable compliance of levers, the Hertzian contact interface, etc. This paper presents the closed-form modeling of an XY nano-manipulator consisting of statically indeterminate symmetric(SIS) structures using leaf and circular flexure hinges. Theoretical analysis reveals that the lever’s compliance, the contact stiffness, and the load mass have significant influence on the static and dynamic performances of the *** are conducted to verify the effectiveness of the established models. If no piezoelectric actuator(PEA) is installed, the influence of the contact stiffness can be eliminated. Experimental results show that the estimation error on the output stiffness and first natural frequency can reach 2% and 1.7%, respectively. If PEAs are installed, the contact stiffness shows up in the models. As no effective method is currently available to measure or estimate the contact stiffness, it is impossible to precisely estimate the performance of the overall system. In this case, the established closed-form models can be utilized to calculate the bounds of the performance. The established closed-form models are widely applicable in the design and optimization of planar flexure-based mechanisms.

关键词： Flexure-based mechanism Statically indeterminate structure Dynamics Lever mechanism Piezoelectric actuator

Research on the influences of torsional deformation on contour precision of the crank pin

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Advances in Manufacturing 2015年第2期3卷 123-129页

作者： Jing Li Hui Qian Biao Li Nan-Yan Shen Shanghai Key laboratory of Intelligent Manufacturing and robotics School of Mechatronics Engineering and AutomationShanghai University

The span and length to diameter ratio of the large-scale crankshaft are big, and the structure and the distribution of crank pins are complex. Thus it is easier for crankshaft to generate biggish torsional deflection which finally influences the contour precision of the crank pin in tangential point tracing grinding. Based on the analyses of force and torsional deformation of the crankshaft under different crankshaft driving modes of the headstock and the tailstock, the relationship between torsional deformation and rotation angle error of the crankshaft in tangential point tracing grinding is discussed in this paper. According to crankshaft rotational motion and wheel frame coordinated motion in tangential point tracing grinding, contour error of the crank pin caused by torsional deflection is established under different crankshaft driving modes. The simulation results show that minimum contour error of the crank pin can be obtained when crankshaft is synchronously driven by both the headstock and the tailstock, and speed error does not exist in tangential point tracing grinding.

关键词： Crank pin Torsional deflection - Rotationangle error Contour precision