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Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Liu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Dong Y.S.,Parallel Robot and Mechatronic System Laboratory of Hebei Province
Journal of Mechanical Engineering Research and Developments | Year: 2014

The parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized and a closed forward displacement analysis is performed for a novel 5-DoF parallel manipulator (PM) with 2 equivalent composite universal joints Ue. First, ten novel parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized. Second, the kinematic model of a 5-DoF 4SPS+SPR PM with 2 composite spherical joints Sc are established. Third, the novel 5-DoF PM with 2Ue is created based on 4SPS+SPR PM by replacing each of 2Sc with Ue, and the formulae are derived for solving forward displacement of the proposed 5-DoF PM with 2Ue. Finally, an analytic example is given for solving the forward displacement of proposed 5-DoF PM with 2Ue, and the analytic solved results are verified by the simulation mechanism using CAD variation geometry. Source


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Wang P.,Yanshan University | Zhao S.,Yanshan University | And 3 more authors.
Robotics and Computer-Integrated Manufacturing | Year: 2014

A novel 5-DoF parallel manipulator (PM) with two composite rotational/linear active legs is proposed and its kinematics and statics are studied systematically. First, a prototype of this PM is constructed and its displacement is analyzed. Second, the formulas are derived for solving the linear/angular velocity and acceleration of UPS composite active leg. Third, the Jacobian and Hessian matrices are derived and formulas for solving the velocity, statics and acceleration of this PM are derived. Third, a reachable work space is constructed using a CAD variation geometric approach. Finally, the kinematics and statics of this PM are illustrated and solved. The solved results are verified by the simulation results. © 2013 Elsevier Ltd. All rights reserved. Source


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Liu Y.,Yanshan University | Ye N.,Yanshan University
Advanced Robotics | Year: 2016

A novel 5-DOF 3SPU+2SPRR type parallel manipulator is proposed. First, the formulae are derived for solving the kinematics parameters of the moving platform. Second, the kinematics of the active legs and connection rod are analyzed, and the formulae for solving velocity and acceleration of the active legs and connection rod are derived. Third, the formulae are derived for solving the dynamic active and constrained forces. Finally, an analytic example is given for solving the dynamics, and the analytic solved results are verified by the mechanism simulation. This paper is aimed at laying a solid theoretical and technical foundation for its prototype manufacture and control. © 2016 Taylor & Francis and The Robotics Society of Japan. Source


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Li X.P.,Yanshan University
Advanced Robotics | Year: 2014

A novel 6-DoF parallel manipulator I with three planar limbs is proposed and its dynamics is analyzed systematically. First, its characteristics and DoF are analyzed and calculated. Second, the formulae for solving kinematics of the moving platform and the planar limbs are derived. Third, the formulae for solving the inertial wrench applied on the planar limbs and the moving platform are derived, and dynamics formula is derived for solving dynamic active forces applied onto the planar limbs. Fourth, a singularity of the proposed parallel manipulator is determined and analyzed. Fifth, an analytic example is given for solving the kinetostatics and dynamics of the proposed parallel manipulator, and the solved results are analyzed and verified by the simulation mechanism. Finally, a workspace is constructed and analyzed by comparing with an existing 6-DoF parallel manipulator. © 2014 Taylor and Francis. Source


Lu Y.,Yanshan University | Lu Y.,Parallel Robot and Mechatronic System Laboratory of Hebei Province | Ye N.,Yanshan University | Wang P.,Yanshan University
Journal of Mechanical Science and Technology | Year: 2016

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 are established for solving the dynamic input wrench of the parallel manipulator and the finger mechanisms. Third, the special kinematics/ dynamics formulae of a novel 6-DoF 3-UPS type parallel manipulator with three one-DoF finger mechanisms are derived for illustrating application of dynamics formulae. Finally, its analytic solutions are analyzed and verified by the simulation solutions. © 2016, The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg. Source

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