The self-organized evolution technology of the mechanism kinetic scheme based on axiomatic design is presented. This technology tries to express the constraints between kinetic mechanisms briefly in a semantic form wh...The self-organized evolution technology of the mechanism kinetic scheme based on axiomatic design is presented. This technology tries to express the constraints between kinetic mechanisms briefly in a semantic form which is more familiar to the designers. Through the mapping process between the kinetic chain unit and the unit instance, the evolution from abstract unit to concrete engineering instance is achieved. The subdivision of unit coupling semantics is studied, and the evolution of semantics is finished. Also, the semantic constraints evolution of unit coupling semantics is described. The product structure models with function and assembly meanings are constructed based on the kinematic chain unit and unit coupling. It provides a basis to realize the inheritance and transfer of constraint information from conceptual design to design for assembly （DFA）. As the engineering practice result shows, the method can help the engineers express their And the automation, recursion and design intension more clearly and naturally in a high semantic level. visualization of the mechanism kinetic scheme design are realized展开更多
In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint o...In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint of power conservation, the peculiar property of bond graph multiport element MTF is discussed. The procedure of modeling planar flexible muhibody mechanical systems by bond graphs and its dynamic principle are deseribed. To overcome the algebraic difficulty brought by differential causality anti nonlinear junction structure, the constraint forces at joints can be considered as unknown effort sources and added to the corresponding O-junctions of system bond graph model. As a result, the automatic modeling on a computer is realized. The validity of the procedure is illustrated by a practical example.展开更多
Given a start pose and a goal pose, a large number of singularity-free poses are created randomly in the 6 dimensional task space, a short line segment is used to create a feasible path between two singularity-free po...Given a start pose and a goal pose, a large number of singularity-free poses are created randomly in the 6 dimensional task space, a short line segment is used to create a feasible path between two singularity-free poses. A well connected roadmap can be obtained and stored in the 6 dimension task space for a specific 6 DOF parallel manipulator in this way and a singularity-free path is queried to connect the start pose and the goal pose. So the singularity-free path planning between any two given poses for this parallel manipulator can be performed very efficiently. This singularity-free path planning method can be used with any type of parallel manipulator only if the matrix used can be given to define singularities.展开更多
文摘The self-organized evolution technology of the mechanism kinetic scheme based on axiomatic design is presented. This technology tries to express the constraints between kinetic mechanisms briefly in a semantic form which is more familiar to the designers. Through the mapping process between the kinetic chain unit and the unit instance, the evolution from abstract unit to concrete engineering instance is achieved. The subdivision of unit coupling semantics is studied, and the evolution of semantics is finished. Also, the semantic constraints evolution of unit coupling semantics is described. The product structure models with function and assembly meanings are constructed based on the kinematic chain unit and unit coupling. It provides a basis to realize the inheritance and transfer of constraint information from conceptual design to design for assembly （DFA）. As the engineering practice result shows, the method can help the engineers express their And the automation, recursion and design intension more clearly and naturally in a high semantic level. visualization of the mechanism kinetic scheme design are realized
文摘In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint of power conservation, the peculiar property of bond graph multiport element MTF is discussed. The procedure of modeling planar flexible muhibody mechanical systems by bond graphs and its dynamic principle are deseribed. To overcome the algebraic difficulty brought by differential causality anti nonlinear junction structure, the constraint forces at joints can be considered as unknown effort sources and added to the corresponding O-junctions of system bond graph model. As a result, the automatic modeling on a computer is realized. The validity of the procedure is illustrated by a practical example.
文摘Given a start pose and a goal pose, a large number of singularity-free poses are created randomly in the 6 dimensional task space, a short line segment is used to create a feasible path between two singularity-free poses. A well connected roadmap can be obtained and stored in the 6 dimension task space for a specific 6 DOF parallel manipulator in this way and a singularity-free path is queried to connect the start pose and the goal pose. So the singularity-free path planning between any two given poses for this parallel manipulator can be performed very efficiently. This singularity-free path planning method can be used with any type of parallel manipulator only if the matrix used can be given to define singularities.
