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Dai Y.,Central South University | Dai Y.,State Key Laboratory of Fluid Power and Mechatronic Systems | Liu S.,Central South University
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | Year: 2012

Taking the design scheme of China's deep ocean mining pilot system as the engineering background, the 3-dimensional dynamic model of the total deep ocean mining system was established based on the single-rigid-body of the seafloor tracked miner, the multi-body discrete element model of the pipeline and the kinematics model of the surface mining ship. A new integrated motion operation mode was proposed, which combines of longitudinal straight-line motion, turning motion and lateral straight-line motion. The dynamic simulation analysis of the new operation mode was achieved. Some critical dynamic characteristics results during the whole operation process were obtained, such as the motion trajectories of the main subsystems, the interaction forces between adjacent subsystems, the deflection angles of the rigid lift pipeline and etc. The dynamic simulation results show that the motion states of all the subsystems can keep stable within the permissible ranges during the whole operation process, which further prove the rationality and feasibility of the newly proposed integrated motion operation mode. Source


Zhou H.,Jiangnan University | Cao Y.,Jiangnan University | Cao Y.,State Key Laboratory of Fluid Power and Mechatronic Systems | Yu J.,Jiangnan University | And 3 more authors.
Advanced Materials Research | Year: 2013

This paper mainly addressed the workspace analysis and performance evaluation of a special class of the 6/6 cable-suspended parallel robot. Based on the screw theory and the static equilibrium, the Jacobian matrix of the cable -suspended parallel robot is constructed. The workspace volume is characterized as the set of points where the centroid of the moving platform can reach with tensions in all suspension cables for a constant orientation. This paper attempts to tackle some aspects of optimal design of this special class of the 6/6 cable-suspended parallel robot by addressing the variations of the workspace volume and the accuracy of the robot using different geometric configurations, different ratios and orientations of the moving platform. The global condition index is used as a performance index of a robot with respect to the force and velocity transmission over the whole workspace. © (2013) Trans Tech Publications, Switzerland. Source


Li B.,Jiangnan University | Li B.,Anhui University of Science and Technology | Cao Y.,Jiangnan University | Cao Y.,State Key Laboratory of Fluid Power and Mechatronic Systems | And 2 more authors.
Robotica | Year: 2013

In this paper, for a special class of the Stewart parallel mechanism, whose moving platform and base one are two dissimilar semi-symmetrical hexagons, the position-singularity of the mechanism for a constant-orientation is analyzed systematically. The force Jacobian matrix [J]T is constructed based on the principle of static equilibrium and the screw theory. After expanding the determinant of the simplified matrix [D], whose rank is the same as the rank of the matrix [J]T, a cubic symbolic expression that represents the 3D position-singularity locus of the mechanism for a constant-orientation is derived and graphically represented. Further research shows that the 3D position-singularity surface is extremely complicated, and the geometric characteristics of the position-singularity locus lying in a general oblique plane are very difficult to be identified. However, the position-singularity locus lying in the series of characteristic planes, where the moving platform coincides, are all quadratic curves compromised of infinite many sets of hyperbolas, four pairs of intersecting lines and a parabola. For some special orientations, the quadratic curve can degenerate into two lines or even one line, all of which are parallel to the ridgeline. Two theorems are presented and proved for the first time when the geometric characteristics of the position-singularity curves in the characteristic plane are analyzed. Moreover, the kinematic property of the position-singularity curves is obtained using the Grassmann line geometry and the screw theory. The theoretical results are demonstrated with several numeric examples. Copyright © 2012 Cambridge University Press. Source


Cao Y.,Jiangnan University | Cao Y.,State Key Laboratory of Fluid Power and Mechatronic Systems | Wu M.,Jiangnan University | Zhou H.,Jiangnan University
International Journal of Robotics and Automation | Year: 2013

For a special class of the Stewart parallel mechanism whose moving platform and the base are two dissimilar semi-symmetrical hexagons, the position-singularity of the mechanism for a constant orientation is analysed systematically. After expanding the determinant of the Jacobian matrix, a cubic symbolic polynomial representing the threedimensional (3D) position-singularity locus of the mechanism is derived and graphical representations of the 3-D position-singularity locus are illustrated. Based on this cubic polynomial, a quadratic polynomial that represents the position-singularity locus of the mechanism in the characteristic plane is derived. It is shown that the characteristic of the position-singularity loci in parallel characteristic planes includes infinity many sets of hyperbolas, four pairs of intersecting lines, a parabola and even two lines or one line for some special orientations. Source


Zhou H.,Jiangnan University | Zhou H.,State Key Laboratory of Fluid Power and Mechatronic Systems | Cao Y.,Jiangnan University | Cao Y.,State Key Laboratory of Fluid Power and Mechatronic Systems | And 5 more authors.
International Journal of Advanced Robotic Systems | Year: 2012

This paper addresses the problem of identifying the property of the singularity loci of a class of 3/6- Cough-Stewart manipulators for general orientations in which the moving platform is an equilateral triangle and the base is a semiregular hexagon. After constructing the Jacobian matrix of this class of 3/6-Cough-Stewart manipulators according to the screw theory, a cubic polynomial expression in the moving platform position parameters that represents the position-singularity locus of the manipulator in a three-dimensional space is derived. Graphical representations of the position- singularity locus for different orientations are given so as to demonstrate the results. Based on the singularity kinematics principle, a novel method referred to as 'singularity-equivalent-mechanism' is proposed, by which the complicated singularity analysis of the parallel manipulator is transformed into a simpler direct position analysis of the planar singularity-equivalent-mechanism. The property of the position-singularity locus of this class of parallel manipulators for general orientations in the principal-section, where the moving platform lies, is identified. It shows that the position-singularity loci of this class of 3/6-Cough-Stewart manipulators for general orientations in parallel principal-sections are all quadratic expressions, including a parabola, four pairs of intersecting lines and infinite hyperbolas. Finally, the properties of the position-singularity loci of this class of 3/6-Cough-Stewart parallel manipulators in a three- dimensional space for all orientations are presented. © 2012 Zhou et al. Source

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