|
|
|
题名
|
作者
|
年代
|
出处
|
被引量
|
| 1 | 5自由度大工作空间/支链行程比混联机械手的概念设计与尺度综合显示文摘研究一类新型5自由度可重构混联机械手的创新设计和尺度综合问题,该机械手模块由一2自由度球面并联机构和一条通过滑移副与之串接的两转动一移动串联运动链组成。该混联机械手由于将定点转动与相对滑移运动解耦,因此具有工作空间/支链行程比大的特点,适合高速轻载作业,可作为即插即用模块用于搭建不同类型的加工制造装备。在建立2自由度球面并联机构的速度映射模型的基础上,分析该机构的奇异性和各向同性问题,并以速度雅可比矩阵最小奇异值的全域均值为操作性能指标,研究2自由度球面并联机构的尺度综合问题。通过单调性分析揭示出尺度参数对该指标的影响规律,进而将尺度综合问题简化为求解杆长等式约束问题。最后给出一组算例,使该尺度综合方法的有效性得到验证。 | 刘海涛 黄田 CHETWYND D G 李曚 | 2007 | 机械工程学报2007，43，6： | 42 |
| 2 | Tricept机械手静刚度解析建模方法显示文摘以Tricept机械手的3自由度球坐标型并联机构为例,提出含恰约束支链的球坐标型并联构型装备静刚度解析建模方法。该方法首先借助子结构综合思想将末端执行器位姿变形分解为无约束主动支链的拉压变形、恰约束支链的弯曲变形及其扭转变形3个部分,然后利用虚功原理和结构矩阵法建立各子结构系统的静柔度模型,最后借助线性叠加原理组集整机末端静柔度模型。在建模过程中,侧重研究恰约束支链弯曲剐度以及铰链刚度的建模方法。在此基础上,考察了Tricept机械手中3自由度并联机构静刚度在工作空间中的变化规律,并借助全局性能指标评价了主要构件柔度对整机柔度的贡献。 | 王友渔 黄田 CHETWYND D G HU S J | 2008 | 机械工程学报2008，44，8： | 24 |
| 3 | Compliance Analysis of a 3-DOF Spindle Head by Considering Gravitational Effects显示文摘The compliance modeling is one of the most significant issues in the stage of preliminary design for parallel kinematic machine(PKM). The gravity ignored in traditional compliance analysis has a significant effect on pose accuracy of tool center point(TCP) when a PKM is horizontally placed. By taking gravity into account, this paper presents a semi-analytical approach for compliance analysis of a 3-DOF spindle head named the A3 head. The architecture behind the A3 head is a 3-RPS parallel mechanism having one translational and two rotational movement capabilities, which can be employed to form the main body of a 5-DOF hybrid kinematic machine especially designed for high-speed machining of large aircraft components. The force analysis is carried out by considering both the externally applied wrench imposed upon the platform as well as gravity of all moving components. Then, the deflection analysis is investigated to establish the relationship between the deflection twist and compliances of all joints and links using semi-analytical method. The merits of this approach lie in that platform deflection twist throughout the entire task workspace can be evaluated in a very efficient manner. The effectiveness of the proposed approach is verified by the FEA and experiment at different configurations and the results show that the discrepancy of the compliances is less than 0.04 μm/N-1 and that of the deformations is less than 10μm. The computational and experimental results show that the deflection twist induced by gravity forces of the moving components has significant bearings on pose accuracy of the platform, providing an informative guidance for the improvement of the current design. The proposed approach can be easily applied to the compliance analysis of PKM by considering gravitational effects and to evaluate the deformation caused by gravity throughout the entire workspace. | LI Qi WANG Manxin HUANG Tian CHETWYND G Derek | 2015 | Chinese Journal of Mechanical Engineering2015，28，1： | 11 |
| 4 | 一种2自由度球面并联机构动力学建模与伺服电机参数预估显示文摘TriVariant-B是一种新型5自由度混联机械手,由一个2自由度球面并联机构和1条与之串接的两转动一移动串联运动链组成,具有工作空间/支链行程比大及可重构性强等优点.在建立其2自由度球面并联机构逆动力学模型的基础上,提出一种可根据对末端执行器速度及加速度要求,预估机构中伺服电机转子惯量、额定转速及峰值转矩的方法,并结合样机开发验证了该方法的有效性. | 刘海涛 梅江平 赵学满 黄田 Chetwynd D G | 2008 | 中国科学(E辑)2008，38，1： | 8 |
| 5 | Kinematic calibration of a class of parallel kinematic machines(PKM) with fewer than six degrees of freedom显示文摘By taking a 3-DOF translational milling machine as an example, this paper investigates the kinematic calibration of PKM systems with fewer than 6-DOF. The error mapping function is formulated in such a way that the geometric errors affecting the compensatable and uncompensatable pose errors can be separated. Based upon the previous investigation, a hierarchical approach to the geometric error identification is proposed. The compensation strategy is developed which is particularly suitable for the PKM systems with translational moving capability. The experiment has been carried out to verify the effectiveness of the proposed approach and the results show that the accuracy can be significantly improved. | 黄田 唐国宝 李思维 李亚 G.Derek Chetwynd J.David Whitehouse | 2003 | Science China(Technological Sciences)2003，46，5： | 8 |
| 6 | 一种含平行四边形支链的3自由度并联机构姿态精度综合与装配工艺设计显示文摘以含平行四边形支链的3平动自由度并联机构主模块为对象,通过误差建模揭示出影响这种机构末端姿态精度因素。利用灵敏度分析结果,将精度综合归结为一类有约束线性规划问题,并据此提出两种可以有效抑制末端姿态误差的装配工艺方案。 | 李思维 黄田 Derek Chetwynd David Whitehouse | 2003 | 机械工程学报2003，39，7： | 7 |
| 7 | A semi-analytical approach for stiffness modeling of PKM by considering compliance of machine frame with complex geometry显示文摘Stiffness modeling is one of the most significant issues in the design of parallel kinematic machine (PKM). This paper presents a semi-analytical approach that enables the stiffness of PKM with complex machine frame geometry to be estimated effectively. This approach can be implemented by three steps: (i) decomposition of the entire system into two sub-systems associated with the parallel mechanism and the machine frame respectively; (ii) stiffness modeling of each sub-system using the analytical approach and the finite element analysis; and (iii) generation of the stiffness model of the entire system by means of linear superposition. In the modeling process of each sub-system, the virtual work princi- ple and overall deflection Jacobian are employed with special attention to the bending rigidity of the constrained passive limb and the interface stiffness of the machine frame. The stiffness distribution of a 5-DOF hybrid robot named TriVariant-B is investigated as an example to illustrate the effectiveness of this approach. The contributions of component rigidities to that of the system are evaluated using global indices. It shows that the results achieved by this approach have a good match to those obtained through finite element analysis and experiments. | WANG YouYu HUANG Tian ZHAO XueMan MEI JiangPing Derek G CHETWYND | 2008 | Chinese Science Bulletin2008，53，16： | 4 |
| 8 | Inverse dynamics and servomotor parameter estimation of a 2-DOF spherical parallel mechanism显示文摘A novel reconfigurable 5-DOF hybrid manipulator―TriVariant-B is composed of a 2-DOF spherical parallel mechanism which is serially connected with a 3-DOF open-loop kinematic chain undergoing one translation and two rotations by a prismatic joint. The merit of this design is that a relatively large workspace/limb- stroke ratio can be achieved thanks to the decomposition of the fixed point rotation and the relative translation. In this paper, on the basis of inverse dynamic formula- tion of the 2-DOF spherical parallel mechanism, an approach is proposed for esti- mating the servomotor parameters including moment of inertia, rated speed and the maximum torque in a quick manner. The approach has been employed for the development of a prototype for frame cutting process. | D G CHETWYND | 2008 | Science China(Technological Sciences)2008，51，3： | 3 |
| 9 | Survival and symptom progression in a geographically based cohort of patients with primary biliary cirrhosis: Follow-up for up to 28 years显示文摘 | Martin Prince Amanda Chetwynd Wendy Newman Jane V. Metcalf Oliver F.W. James | 2002 | Gastroenterology2002，，4： | 2 |
| 10 | Roundness measurement usinglimacons显示文摘 | CHETWYND D G | 1979 | Precision Engineering1979，1，3： | 1 |
| 11 | Survival and symptom progression in a geographically based cohort of patients with primary biliary cirrhosis : followup for up to 28 years 显示文摘 | Prince M Chetwynd A Newman W | 2002 | Gastroenterology2002，123，4： | 1 |
| 12 | A unified error model for tolerance design,assembly and error compensation of 3-DOF parallel kinematic machines with parallelogram struts显示文摘 | Huang T Whitehouse D J Chetwynd D G | 2002 | Annals of CIRP2002，51，1： | 1 |
| 13 | A general and novel approach for parameter identification of machines显示文摘 | Huang Tian Chetwynd D Whitehouse D | 2005 | Mechanism and Machine Theory2005，40，2： | 1 |
| 14 | Chromatic index critical graphs of order 9显示文摘 | CHETWYND A G YAP H P | 1983 | Discrete Mathematics1983，，47： | 1 |
| 15 | Tolerance design of a 2- DOF overconstrained translational parallel robot 显示文摘 | Huang T Chetwynd D G Mei J P | 2006 | Transac- tions on Robotics2006，22，1： | 1 |
| 16 | Friction and wear behaviour of pyramidal nanoscaled surface features显示文摘 | Gerbig Y B Ahmed S L U Chetwynd D G | 2008 | Wear2008，265，： | 1 |
| 17 | A general and novel approach for parameter identification of 6-DOF parallel kinematic machines显示文摘 | Huang Tian Chetwynd Derek G David J | 2005 | Mechanism and Machine Theory2005，40，2： | 1 |
| 18 | Tolerance design of a 2-DOF overconstrained translational parallel robot 显示文摘 | HUANG T CHETWYND D G MEI J P | 2006 | IEEE Transactions on Robotics2006，22，1： | 1 |
| 19 | Survival and symptom progression in a geographically based cohort of patients with primary biliary cirrhosis: follow-up for up to 28 years显示文摘 | Prince M Chetwynd A Newman W | 2002 | Gastroenterology2002，123，4： | 1 |
| 20 | Measurements of Tribological Properties of Poly(Pyrrole) Thin Film Bearings 显示文摘 | Liu X Chetwynd D G Gardner J W | 1998 | Tribology International1998，31，6： | 1 |
您所在的机构暂未开通此部分的功能，请联系管理员