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  • 1. Huo, X. M.
    et al.
    Lian, Binbin
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Sun, T.
    Song, Y. M.
    Parameterized inverse kinematics of parallel mechanism based on CGA2019Inngår i: EuCoMeS 2018 Proceedings of the 7th European Conference on Mechanism Science, Springer Netherlands, 2019, Vol. 59, s. 340-346Konferansepaper (Fagfellevurdert)
    Abstract [en]

    A parameterized inverse kinematic model is the theoretical basis for performance analysis, design and control of parallel mechanism (PM). Current methods are either computationally expensive or difficult to get analytical form. To deal with this problem, this paper proposes a parameterized method by conformal geometric algebra (CGA). Based on the description and computation of screw motions in CGA, closure equations about successive screw displacements of any PM can be formulated. Joint displacements of each limb and screw parameters of end-effector are then solved in an analytical manner. The proposed method is exemplified by a 3 degree-of-freedom (DoF) PM, which shows high efficiency in deriving the analytical inverse kinematic model.

  • 2.
    Lian, Binbin
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.). Tianjin University, China.
    Geometric Error Modeling of Parallel Manipulators Based on Conformal Geometric Algebra2018Inngår i: Advances in Applied Clifford Algebras, ISSN 0188-7009, E-ISSN 1661-4909, Vol. 28, nr 1, artikkel-id 30Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    An approach for geometric error modeling of parallel manipulators (PMs) based on the visual representation and direct calculation of conformal geometric algebra is introduced in this paper. In this method, the finite motion of an open-loop chain is firstly formulated. Through linearization of the finite motion, error propagation of the open-loop chain is analyzed. Then the error sources are separated in terms of joint perturbations and geometric errors. Next, motions and constraints of PMs are analyzed visually by their reciprocal property. Finally geometric error model of PMs are formulated considering the actuations and constraints. The merits of this new approach are twofold: (1) complete and continuous geometric error modeling can be achieved since finite motions are considered, (2) visual and analytical computation of motions and constraints are applied for transferring geometric errors from the open-loop chain to the PM. A 2-DoF rotational PM is applied to demonstrate the geometric error modeling process. Comparisons between simulation and analytical models show that this approach is highly effective.

  • 3.
    Lian, Binbin
    et al.
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Wang, Lihui
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Wang, Xi Vincent
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Elastodynamic modeling and parameter sensitivity analysis of a parallelmanipulator with articulated traveling plate2019Inngår i: The International Journal of Advanced Manufacturing Technology, ISSN 0268-3768, E-ISSN 1433-3015Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper deals with the elastodynamic modeling and parameter sensitivity analysis of a parallel manipulator with articulated traveling plate (PM-ATP) for assembling large components in aviation and aerospace. In the elastodynamic modeling, the PM-ATP is divided into four levels, i.e., element, part, substructure, and the whole mechanism. Herein, three substructures, including translation, bar, and ATP, are categorized according to the composition of the PM-ATP. Based on the kineto-elastodynamic (KED) method, differential motion equations of lower levels are formulated and assembled to build the elastodynamic model of the upper level. Degrees of freedom (DoFs) at connecting nodes of parts and deformation compatibility conditions of substructures are considered in the assembling. The proposed layer-by-layer method makes the modeling process more explicit, especially for the ATP having complex structures and multiple joints. Simulations by finite element software and experiments by dynamic testing system are carried out to verify the natural frequencies of the PM-ATP, which show consistency with the results from the analytical model. In the parameter sensitivity analysis, response surface method (RSM) is applied to formulate the surrogate model between the elastic dynamic performances and parameters. On this basis, differentiation of performance reliability to the parameter mean value and standard variance are adopted as the sensitivity indices, from which the main parameters that greatly affect the elastic dynamic performances can be selected as the design variables. The present works are necessary preparations for future optimal design. They can also provide reference for the analysis and evaluation of other PM-ATPs.

    Fulltekst (pdf)
    fulltext
  • 4.
    Lian, Binbin
    et al.
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Wang, Xi Vincent
    KTH, Centra, XPRES, Excellence in production research. KTH, Skolan för industriell teknik och management (ITM), Industriell produktion, Produktionssystem.
    Wang, Lihui
    KTH, Skolan för industriell teknik och management (ITM), Industriell produktion, Produktionssystem.
    Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during constructionInngår i: Artikkel i tidsskrift (Fagfellevurdert)
    Fulltekst (pdf)
    fulltext
  • 5.
    Lian, Binbin
    et al.
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Wang, Xi Vincent
    KTH, Skolan för industriell teknik och management (ITM), Industriell produktion.
    Wang, Lihui
    KTH, Skolan för industriell teknik och management (ITM), Industriell produktion.
    Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during construction2019Inngår i: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 59, s. 267-277Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Having potentially high stiffness and good dynamic response, a parallel pose adjusting mechanism was proposed for being an attachment to a big serial robot of a macro-micro robotic system. This paper addresses its design optimization problem mainly concerning arrangements of design variables and objectives. Parameter changes during construction are added to the design variables in order to prevent the negative effects to the physical prototype. These parameter changes are interpreted as parameter uncertainty and modeled by probabilistic theory. For the objectives, both static and dynamic performances are simultaneously optimized by Pareto-based method. The involved performance indices are instantaneous energy based stiffness index, first natural frequency and execution mass. The optimization procedure is implemented as: (1) carrying out performance modeling and defining performance indices, (2) reformulating statistical objectives and probabilistic constraints considering parameter uncertainty, (3) conducting Pareto-based optimization with the aid of response surface method (RSM) and particle swarm optimization (PSO), (4) selecting optimal solution by searching for cooperative equilibrium point (CEP). By addressing parameter uncertainty and the best compromise among multiple objectives, the presented optimization procedure provides more reliable optimal parameters that would not be affected by minor parameter changes during construction, and less biased optimum between static and dynamic performances comparing with the conventional optimization methods. The proposed optimization method can also be applied to the other similar mechanisms.

  • 6.
    Tao, Sun
    et al.
    Tianjin University.
    Lian, Binbin
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Yimin, Song
    Tianjin University.
    Feng, Lei
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Maskinkonstruktion (Avd.).
    Elasto-dynamicoptimization of a 5-DoF parallel kinematic machine considering parameteruncertainty2019Inngår i: IEEE/ASME transactions on mechatronics, ISSN 1083-4435, E-ISSN 1941-014X, nr 1, s. 315-325Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Geometric errors, vibration, and elastic deformation are the main causes for inaccuracy of parallel kinematic machines (PKMs). Instead of tackling these inaccuracies after the prototype has been built, this paper proposes a design optimization method to minimize vibration and deformation considering the effects of geometric errors before constructing the PKM. In this paper, geometric errors are described as parameter uncertainty because they are unknown in design stage. A five degree-of-freedom (DoF) PKM is taken to exemplify this method. Elastodynamic model is first formulated by a step-by-step strategy. On this basis, dynamic performances, including natural frequency, elastic deformation, and maximum stress, are analyzed. These analytical results are verified by finite-element simulation and experiment. Then, the necessity of concerning parameter uncertainty in optimization is addressed. Next, parameter uncertainty is added to the formulation of objectives and constraints by Monte Carlo simulation and response surface method. Finally, elastodynamic optimization of the 5-DoF PKM is implemented to rebuild a prototype which is robust to geometric errors and has minimal vibration and deformation. The proposed method can also be applied to accuracy improvement of any machines in practical applications.

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