An equilateral tetrahedral mechanism

Input-output kinematics of a novel, exoskeletal manipulator mechanism has been analysed. The abstract model is two equilateral tetrahedral wire frames which move relatively so that their edges remain in intersecting, parallel or coincident pairs. A mechanical, rigid body model was constructed and a computer animation was performed.     

载体位姿不受控的空间机械臂非完整特性研究

载体位姿不受控的空间机械臂系统,其载体和机械臂之间存在角动量守恒方程约束。由于该约束是非完整约束,所以普通的固定基座机器人运动学理论不能直接用来解决这类空间机械臂系统的运动学问题,基于这类非完整性约束,推出载体位姿不受控空间机械臂的运动学方程,在速度层次上分析这类载体位姿不受控的空间机械臂的运动学问题,并进行由于非完整特性引起载体位姿干扰与奇异问题的仿真研究。     

一种三平移一转动多维激振台关节的分析

为解决基于并联机构中运动副存在间隙而使得激振台在高频激振的情况下运动无法传递的问题,提出了运用柔性万向节代替普通万向节的并联机构激振台。在ADMAS中建立柔性关节激振平台的虚拟样机模型,通过仿真验证并联机构柔性激振台的可行性。并对普通万向节测试其运动输出。     

Forming of cross-profile holes by adding rotations around coplanar axes

This paper presents two methods of forming profile holes, previously drilled in rotational and casing blanks. The methods can be implemented on lathes, milling, drilling and centering machines, etc. Kinematic synthesis of the methods is shown based on the kinematics of a body rotating around coplanar axes. The rational field of application of the methods has been found. Principal diagrams of the devices and tools enabling implementation of the method are shown.     

惯性圆锥破碎机运动学和动力学分析

惯性圆锥破碎机是具有独特原理和结构的高效超细粉碎设备。本文通过对惯性圆锥破碎机破碎机理的研究，对该破碎机的运动学和动力学作了较全面的分析，建立了惯性圆锥破碎机的运动学模型，推导出惯性圆锥破碎机的运动学和动力学公式，得出破碎力计算公式，并运用运动学和动力学分析了惯性圆锥破碎机的工作特点。     

轴类件柔性辊轧的运动分析

根据几何学原理,推导出轴类件辊轧变形时各变形阶段轧轮的几何参数、运动参数与工件的运动和材料变形之间的关系,分析结果对工艺参数的选择和有限元模拟分析提供了理论基础。     

Comparison of joint angle,velocity and acceleration estimators for hydraulically actuated manipulators to a novel dynamical approach

Excavators are used for a wide range of applications like earthworks and material handling. Assistance systems are becoming more common to support the operator. For monitoring and control based assistance functions the angular position, velocity and acceleration of the joints from the working implement are required. Commercial systems often use inertial measurement units, consisting of triaxial accelerometers and gyroscopes, to accomplish an estimation of those states. A novel joint angle, velocity and acceleration estimation for hydraulic manipulators is proposed and compared to state of the art methods. A decentralized kinematic filter using no information about the underlying system and a centralized kinematic filter taking the system kinematics into account are implemented as state of the art approaches. Both filters only use inertial measurement units to obtain information about the current state of the system. The novel centralized dynamic filter uses the same information as the centralized kinematic filter and extends it by a dynamic model containing additional information about the angular acceleration due to pressure readings of the hydraulic cylinders. Kalman filtering is used to combine the derived system and measurement models with the sensor information. The methods are evaluated on a material handling excavator for single and coupled movements of the working implement. The novel centralized dynamic filter enables improvements for the angular acceleration estimation compared to the decentralized and centralized kinematic filter. Less noise of the acceleration estimation and a better tracking of the actual acceleration are shown.     

实现空间对称旋轮轨迹行星机构的分析和设计

为了实现面粉搅拌机的工作头所需要的运动轨迹，采用了结构简单的内外啮合圆锥齿轮行星机构引导以获得精确综合的空间对称旋轮曲线，并且对机构进行了运动分析和结构设计。根据产品负载检测的工程分析结果表明，完全满足产品性能指标要求。     

Topology and kinematic analysis of color-changing ball

The color-changing ball has two stable configurations. Its mechanism is a multiple loop and polygonal mechanism. This paper investigates the mechanism typology and analyzes its structure and configurations during motion. A three-legged mechanism is extracted from this mechanism. The kinematics model of the mechanism is presented and singularity is discussed. The paper further decomposes the mechanism and investigates the platform structure of the intersection between loops. This leads to investigation of the offset of joint intersection at the intersection and its relevant geometry and kinematics. The paper further focuses on the configuration change between two states of the mechanism and investigates kinematics and singularity between two configurations. Based on the analysis, simulation of the color-changing ball is carried out. The topology and kinematics analysis in this paper helps the analysis of this kind of polyhedral linkage mechanism with radial motion. The research could potentially lead to the development of kinematics for design of this kind of mechanism.     

压电微马达运动学模拟的研究

本文在压电微马达运动学基本原理的基础上,运用C语言编制了压电微马达运动学分析程序.进行了压电微马达运动学模拟仿真的研究,得出一些重要的结论,并进一步得到压电微马达样机实验的验证.