Zi Bin

Workspace Analysis of a Hybrid-Driven Cable Parallel Mechanism

This paper presents a new-type hybrid-driven cable parallel mechanism, which combines hybrid-driven mechanism with cable parallel mechanism, and the mechanism can not only operate with high speed, high accuracy, and high payload, but also have high performance output movement. The workspace of hybrid-driven cable parallel mechanism is characterized as the space where the end-effector can reach with tensions in all cables, and it is studied in this paper. Firstly, through the kinematic analysis, it can be derived the location equations of the end-effector. Then, the paper analyzes the main factors influencing the workspace of hybrid-driven cable parallel mechanism such as cable tension, workspace of hybrid-driven mechanism, the length of cables, and the motion range. At the end, with the location equations and constraints, the workspace is determined. Computational example is provided to demonstrate the effectiveness of the proposed analysis method.

Dynamics of 3-DOF spatial parallel manipulator with flexible links

The dynamics of 3-DOF spatial parallel manipulators with flexible links were performed. Firstly, a model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, using the kinematic and dynamic constraint equations of the parallel manipulator, the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches. Thirdly, the dynamic responses of the 3-RRS parallel mechanism with flexible links were analyzed through numerical simulation. This paper can provide necessary information for the dynamic performance analysis, dynamics optimization design and control of the 3-RRS flexible parallel mechanisms.

Virtual prototype simulation of a 3-RRS flexible parallel manipulator

In applications where high structural stiffness, position accuracy, speed motion, and good dynamic performance are predominant requirements, parallel manipulators offer obvious advantages over serial ones. However, dynamic modeling and analysis of parallel manipulator, which are characterized by multiple closed-loop chains, are generally more complex than in the serial mechanism case. Especially, dynamic problems of the parallel manipulators with flexible links have not been studied as extensively. The primary goal of this research is the virtual prototype simulation of spatial flexible parallel manipulator. Firstly, the virtual prototype of a 3-RRS flexible parallel manipulator is established on the basis of the finite element software SAMCEF. Then, the displacement, velocity and acceleration of the 3-RRS flexible parallel manipulator are analyzed. The simulation results show that the flexibility of link has important influence on kinematics and dynamics performance of the flexible parallel manipulator.

Research on Cooperation Localization and Mapping for Hoisting Multi-Robot System

According to the practical operation of the hoisting multi-mobile robots system (HMRS), the cooperation localization and mapping is studied. Firstly, an improved algorithm of cooperation localization solution of multiple robot system is proposed based on map gridding algorithm. In addition, by virtue of sensor technology, the grid method is designed, which has the ability of accurate, reliable localization and rapid local mapping of the HMRS. Finally, simulation results demonstrate that the localization and mapping system is feasible and efficient.