Parameter optimization for a novel 3-DOF hybrid mechanical arm was presented by using a statistics method called the statistics parameters optimization method based on index atlases.Several kinematics and mechanics pe...Parameter optimization for a novel 3-DOF hybrid mechanical arm was presented by using a statistics method called the statistics parameters optimization method based on index atlases.Several kinematics and mechanics performance evaluation indices were proposed and discussed,according to the kinematics and mechanics analyses of the mechanical arm.Considering the assembly technique,a prototype of the 3-DOF hybrid mechanical arm was developed,which provided a basis for applications of the 3-DOF hybrid mechanical arm.The novel 3-DOF hybrid mechanical arm can be applied to the modern industrial fields requiring high stiffness,lower inertia and good technological efficiency.A novel 6-DOF hybrid humanoid mechanical arm was built,in which the present mechanical arm was connected with a spherical 3-DOF parallel manipulator.展开更多
The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is p...The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is proposed to establish the model of PMA.The concept of hybrid elastic modulus which is related to the static characteristic of PMA is put forward,and the energy conservation law is used to achieve the expression of the hybrid elastic modulus,which can be fitted out based on experimental data,and the model of PMA can be derived from this expression.At the same time,a 3-DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is designed.This bionic shoulder joint adopts the structure of two antagonistic PMAs actualizing a rotation control and three PMAs controlling another two rotations to get better rotation characteristics.The kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control it.Experimental results demonstrate the effectiveness of this new static model.展开更多
基金Supported by the National Natural Science Foundation of China(Grant No.50575208)the Open Fund of Prime Important Discipline of Mechanical and Mechatronics Engineering(Grant No.2009EP004)the Fund of Yanshan University
文摘Parameter optimization for a novel 3-DOF hybrid mechanical arm was presented by using a statistics method called the statistics parameters optimization method based on index atlases.Several kinematics and mechanics performance evaluation indices were proposed and discussed,according to the kinematics and mechanics analyses of the mechanical arm.Considering the assembly technique,a prototype of the 3-DOF hybrid mechanical arm was developed,which provided a basis for applications of the 3-DOF hybrid mechanical arm.The novel 3-DOF hybrid mechanical arm can be applied to the modern industrial fields requiring high stiffness,lower inertia and good technological efficiency.A novel 6-DOF hybrid humanoid mechanical arm was built,in which the present mechanical arm was connected with a spherical 3-DOF parallel manipulator.
基金supported by the National Natural Science Foundation of China(No. 51405229)the Natural Science Foundation of Jiangsu Province of China(Nos. BK20151470,BK20171416)
文摘The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is proposed to establish the model of PMA.The concept of hybrid elastic modulus which is related to the static characteristic of PMA is put forward,and the energy conservation law is used to achieve the expression of the hybrid elastic modulus,which can be fitted out based on experimental data,and the model of PMA can be derived from this expression.At the same time,a 3-DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is designed.This bionic shoulder joint adopts the structure of two antagonistic PMAs actualizing a rotation control and three PMAs controlling another two rotations to get better rotation characteristics.The kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control it.Experimental results demonstrate the effectiveness of this new static model.
