Kinematics analysis of a hybrid manipulator for computer controlled ultra-precision freeform polishing

Xu, Peng; Cheung, Chi Fai; Li, Bing; Ho, Lai Ting; Zhang, Jufan

doi:10.1016/j.rcim.2016.08.003

Cited by 66 publications

(38 citation statements)

References 29 publications

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“…The force that is used to overcome the drag of an aircraft, as well as its weight due to gravity is termed thrust. In the case of multiple rotors, the thrust is the force that is orthogonal to the propellers [19]. It is generated by rotation of the rotor at a certain velocity.…”

Section: Multi-rotor Dynamicsmentioning

confidence: 99%

Quadcopter-Based Rapid Response First-Aid Unit with Live Video Monitoring

Rizwan

Shehzad

Awais

2019

Drones

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Air transport is the fastest way to reach areas with no direct land routes for ambulances. This paper presents the development of a quadcopter-based rapid response unit in an efficient aerial aid system to eliminate the delay time for first aid supplies. The system comprises a health monitoring and calling system for a field person working in open areas and a base station with the quadcopter. In an uncertain situation, the quadcopter is deployed from the base station towards the field person for immediate help through the specified path using constant Global System for Mobile (GSM)- and Global Positioning System (GPS)-based connections. The entire operation can be monitored at the base station with a Virtual Reality (VR) head-tracking system supported by a smartphone. The camera installed on the quadcopter is synchronized with the operator’s head movement while wearing a VR head-tracking system at the base station. Moreover, an Infrared (IR)-based obstacle-evasion model is implemented separately to explain the working of the autonomous collision-avoidance system. The system was tested, which confirmed the reduction in the response time to supply aid to the desired locations.

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Section: Multi-rotor Dynamicsmentioning

confidence: 99%

Quadcopter-Based Rapid Response First-Aid Unit with Live Video Monitoring

Rizwan

Shehzad

Awais

2019

Drones

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“…In recent years, tremendous work has been carried out on the design and development of 5-axis hybrid robots having A/C type wrist, the Tricept, the Exechon and the TriMule for example. The relevant work primarily focuses on type synthesis [4,17,18], kinetostatic analysis [19][20], kinematic optimization [21][22][23][24][25][26][27], and CNC controller development [28][29][30], etc. Unfortunately, little attention has been paid to non-singular tool path planning though singularity problem can be avoided, to some extent, by placing such a robot a tilt angle with respect to the workpiece frame at the cost of reducing the useful workspace envelop [23,31].…”

Section: Introductionmentioning

confidence: 99%

Inverse kinematics of a 5-axis hybrid robot with non-singular tool path generation

Liu

Huang

2019

Robotics and Computer-Integrated Manufacturing

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“…However, parallel manipulators suffer inherently from an unfavorable workspace. Therefore, it is of crucial significance to make full use of the potential parallel manipulators to satisfy the current work requirements [4,5].…”

Section: Introductionmentioning

confidence: 99%

Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator

Zhang

Fang

Zhang

et al. 2019

International Journal of Aerospace Engineering

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This paper presents a novel redundantly actuated 2RPU-2SPR parallel manipulator that can be employed to form a five-axis hybrid kinematic machine tool for large heterogeneous complex structural component machining in aerospace field. On the contrary to series manipulators, the parallel manipulator has the potential merits of high stiffness, high speed, excellent dynamic performance, and complicated surface processing capability. First, by resorting to the screw theory, the degree of freedom of the proposed parallel manipulator is briefly addressed with general configuration and verified by Grübler-Kutzbach (G-K) criteria as well. Next, the inverse kinematics solution for such manipulator is deduced in detail; however, the forward kinematics is mathematically intractable. To deal with such problem, the forward kinematics is solved by means of three back propagation (BP) neural network optimization strategies. The remarkable simulation results of the parallel manipulator demonstrate that the BP neural network with position compensation is an appropriate method for solving the forward kinematics because of its various advantages, such as high efficiency and high convergence ratios. Simultaneously, workspaces, including joint space and workspace of the proposed parallel manipulator, are graphically depicted based on the previous research, which illustrate that the proposed manipulator is a good candidate for engineering practical application.

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Kinematics analysis of a hybrid manipulator for computer controlled ultra-precision freeform polishing

Cited by 66 publications

References 29 publications

Quadcopter-Based Rapid Response First-Aid Unit with Live Video Monitoring

Quadcopter-Based Rapid Response First-Aid Unit with Live Video Monitoring

Inverse kinematics of a 5-axis hybrid robot with non-singular tool path generation

Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator

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