Search results for: Nijia Ye

Items from 1 to 14 out of 14 results

article

Type synthesis and kinematics analysis of parallel manipulators with equivalent composite universal joints

Yang Lu, Yi Lu, Canguo Zhang, Nijia Ye

Journal of Mechanical Science and Technology > 2019 > 33 > 11 > 5473-5482

Several novel parallel manipulators (PMs) with equivalent composite universal joints U_e are synthesized and their kinematics is studied systematically in this paper. First, the 12 novel PMs with U_e are synthesized, and their degrees of freedom are calculated. Second, the structure and merits of the composite limb with U_e for constructing the PMs with U_e are analyzed; the unified formulas are derived...

article

New kinematics Hessian matrixes of manipulators based on Skew-symmetric matrixes theory

Yi Lu, Nijia Ye, Yang Lu, Wang Yongli

Applied Mathematical Modelling > 2018 > 63 > C > 55-67

A new approach is proposed for deriving the Hessian matrixes of parallel manipulators and their generative mechanisms using the skew-symmetric matrixes of translational/angular velocities and their combination formulae. First, several necessary skew-symmetric matrixes of the translational/ angular velocities and their combination formulae are derived. Second, the differentiations of the sub-Jacobian...

article

Dynamics analysis and workspace of a novel 4-DoF parallel manipulator with multi-couple constrained wrenches

Yi Lu, Yang Liu, Yang Lu, Nijia Ye, more

Journal of Mechanical Science and Technology > 2018 > 32 > 8 > 3857-3867

A novel 4-DoF parallel manipulator with multi-couple constrained wrenches is proposed. Its 3D model is constructed and its characteristics, DoF and two couple-constrained wrenched are analyzed. Its kinematic formulae for solving DoF, the displacement, velocity, acceleration, singularities of moving links are derived and analyzed. Its dynamics formulae for solving the dynamic active forces and the...

article

Kinematics/dynamics analysis of novel 3UPUR $${+}$$ + SP-type hybrid hand with three flexible fingers

Yi Lu, Peng Wang, Nijia Ye

Nonlinear Dynamics > 2018 > 91 > 2 > 1127-1144

A novel 3UPUR $$+$$ + SP-type hybrid hand with three flexible fingers is designed. Its prototype is built up, and its characteristics, DoF and constrained wrench are analyzed. Its kinematic formulae for solving DoF, the displacement, velocity, acceleration of the moving links are derived and analyzed. Its dynamic formulae for solving the dynamic active forces and the dynamic constrained...

article

Stiffness analysis of parallel manipulators with linear limbs by considering inertial wrench of moving links and constrained wrench

Yi Lu, Zhuohong Dai, Nijia Ye

Robotics and Computer-Integrated Manufacturing > 2017 > 46 > C > 58-67

A stiffness of the parallel manipulators with linear limbs is analyzed by considering the inertial wrench of the moving links and the constrained wrench. First, a formula is derived for solving the dynamic active and constrained wrenches, the inertial wrench of moving links based on the principle of virtual work. Second, the relationship between the elastic deformations of limbs and the dynamic active/constrained...

article

Unified recursive derivation and analysis of complex associated linkages with various links and type synthesis of complex robot mechanisms

Yi Lu, Nijia Ye, Lijie Zhang

Journal of the Brazilian Society of Mechanical Sciences and Engineering > 2017 > 39 > 10 > 4091-4106

It has been a significant and challenging issue to synthesize novel complex robot mechanisms to create the equipments/devices such as flexible hand-finger, flexible leg-feet, waist, the propeller generator of submarine or helicopter, artificial heart, flexible airfoil, and bionic mechanism. In this paper, an approach for recursively deriving the complex-associated linkages (ALs) with various links...

article

Design and kinemics/dynamics analysis of a novel climbing robot with tri-planar limbs for remanufacturing

Yi Lu, Keke Zhou, Nijia Ye

Journal of Mechanical Science and Technology > 2017 > 31 > 3 > 1427-1436

A novel climbing robot with tri-planar limbs is proposed for remanufacturing, and its kinematics and dynamics are studied systematically. First, a 3D prototype of the climbing robot with tri-planar limbs was designed and constructed; its principle of climbing wall and machining in fixed wall location are explained. Second, the formulae for solving the displacement, the velocity, acceleration, and...

article

Type synthesis of parallel mechanisms by utilizing sub-mechanisms and digital topological graphs

Yi Lu, Nijia Ye

Mechanism and Machine Theory > 2017 > 109 > C > 39-50

A type synthesis of various parallel mechanisms by utilizing sub-mechanisms and digital topology graphs is studied. The conditions for type synthesis of the parallel mechanisms with the sub-mechanisms are determined. Based on the determined conditions, the digital topology graphs are derived from different associated linkages, and the digital topology graphs are transformed into revised digital topology...

article

Development of a novel sensor for hybrid hand with three fingers and analysis of its measure performances

Yi Lu, Yongli Wang, Nijia Ye, Liwei Chen

Mechanical Systems and Signal Processing > 2017 > 83 > C > 116-129

A novel sensor for a hybrid hand with three-fingers is developed and its measure performances for measuring the six-component force/torque of hybrid hand are analyzed. First, the performances of the sensor and its statics model are analyzed. The second, the mathematic models for the statics and stiffness of the rigid/compliant leg are established. Third, the statics equations among the forces of the...

article

Dynamics analysis of 3-leg 6-DoF parallel manipulator with multi different-DoF finger mechanisms

Yi Lu, Nijia Ye, Peng Wang

Journal of Mechanical Science and Technology > 2016 > 30 > 3 > 1333-1342

A dynamics of a 3-leg 6-DoF parallel manipulator with multi different-DoF fingers is studied systematically. First, the unified kinematics formulae of the parallel manipulator with multi different-DoF fingers are established for solving the velocity/acceleration of the moving links of parallel manipulator and finger mechanisms and the Jacobian/Hessian matrices. Second, their unified dynamics formulae...

article

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

Yi Lu, Zhuohong Dai, Nijia Ye, Peng Wang

Journal of Mechanical Science and Technology > 2015 > 29 > 10 > 4407-4416

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS...

article

Derivation of valid contracted graphs from simpler contracted graphs for type synthesis of closed mechanisms

Yi Lu, Yang Lu, Nijia Ye, Bingyi Mao, more

Mechanism and Machine Theory > 2012 > 52 > Complete > 206-218

Contracted graph (CG) is a basic and effective tool for deriving topology graphs which are widely used for type synthesis of closed mechanisms. This paper focuses on the derivation of valid CGs from simpler CGs by adding edge and the identification of their isomorphism. First, the concepts of CGs are explained, and the numbers of vertices and edges in CGs are determined. Second, many different CGs...

article

Using characteristic strings to derive valid contracted graphs with hexagonal links plus other links for type synthesis of closed mechanisms

Yi Lu, Yang Lu, Nijia Ye, Bingyi Mao, more

Journal of Mechanical Science and Technology > 2012 > 26 > 5 > 1539-1546

It has been a significant and challenging issue to derive the complex valid contracted graphs (CGs) with hexagonal links plus other links and identify their isomorphism for creating novel closed mechanisms. This paper focuses on the derivation of the valid CGs with hexagonal links plus other links using the characteristic strings (CSs). First, the concepts on the CGs and CSs are explained, and the...

article

Solving inertial wrench of parallel manipulators using CAD variation geometry

Yi Lu, Yang Lu, Nijia Ye, Peng Wang, more

Journal of Mechanical Science and Technology > 2012 > 26 > 9 > 2695-2703

It has been a significant and challenging issue to solve the inertial wrench of parallel manipulators (PMs) for their dynamics analysis and control. A CAD variation geometry approach is proposed for solving the inertial wrench of PMs. First, an initial simulation mechanism of PM, and a simulation mechanism of PM with linear/angular velocity and acceleration are created. Second, when modifying the...

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Keywords

PARALLEL MANIPULATOR (7)
KINEMATICS (6)
DYNAMICS (5)
CONTRACTED GRAPH (3)
MECHANISM (3)
TYPE SYNTHESIS (3)
HYBRID HAND (2)
STATICS (2)
STIFFNESS (2)
ASSOCIATED LINKAGE (1)
CAD VARIATION GEOMETRY (1)
CHARACTERISTIC STRING (1)
CLIMBING ROBOT (1)
CLOSED PLANAR MECHANISM (1)
COMPOSITE ACTIVE LEGS (1)
COMPOSITE LIMB (1)
COMPOSITE UNIVERSAL JOINT (1)
COUPLE-CONSTRAINED WRENCH (1)
DIGITAL TOPOLOGY GRAPH (1)
DYNAMIC ACTIVE AND CONSTRAINED WRENCH (1)
EDGE (1)
ELASTIC DEFORMATION (1)
FINGER (1)
FLEXIBLE FINGER (1)
HAND (1)
HESSIAN MATRIX (1)
INERTIAL WRENCH (1)
KINEMATICS, INERTIAL WRENCH (1)
PARALLEL MANIPULATOR WITH MULTI FINGERS (1)
PARALLEL MECHANISM (1)
REDUNDANT CONSTRAINT (1)
REDUNDANT KINEMATIC HYBRID MANIPULATOR (1)
RIGID/COMPLIANT LEGS (1)
SENSOR FOR HYBRID HAND (1)
SERIAL LIMB (1)
SERIAL-PARALLEL ARM (1)
SKEW-SYMMETRIC MATRIX (1)
TOPOLOGY GRAPH (1)
WORKSPACE (1)
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Springer (9)
Elsevier (5)

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Search results for: Nijia Ye

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