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Publications (6 of 6) Show all publications
Lian, B., Wang, L. & Wang, X. V. (2019). Elastodynamic modeling and parameter sensitivity analysis of a parallelmanipulator with articulated traveling plate. The International Journal of Advanced Manufacturing Technology
Open this publication in new window or tab >>Elastodynamic modeling and parameter sensitivity analysis of a parallelmanipulator with articulated traveling plate
2019 (English)In: The International Journal of Advanced Manufacturing Technology, ISSN 0268-3768, E-ISSN 1433-3015Article in journal (Refereed) Published
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.

Place, publisher, year, edition, pages
Elsevier, 2019
Keywords
Parallel manipulator, Articulated traveling plate, Elastodynamic modeling, Parameter sensitivity
National Category
Other Mechanical Engineering
Identifiers
urn:nbn:se:kth:diva-249440 (URN)10.1007/s00170-018-03257-x (DOI)000469002200038 ()2-s2.0-85059859139 (Scopus ID)
Note

QC 20190429

Available from: 2019-04-12 Created: 2019-04-12 Last updated: 2019-10-24Bibliographically approved
Tao, S., Lian, B., Yimin, S. & Feng, L. (2019). Elasto-dynamicoptimization of a 5-DoF parallel kinematic machine considering parameteruncertainty. IEEE/ASME transactions on mechatronics (1), 315-325
Open this publication in new window or tab >>Elasto-dynamicoptimization of a 5-DoF parallel kinematic machine considering parameteruncertainty
2019 (English)In: IEEE/ASME transactions on mechatronics, ISSN 1083-4435, E-ISSN 1941-014X, no 1, p. 315-325Article in journal (Refereed) Published
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.

Place, publisher, year, edition, pages
IEEE, 2019
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-249502 (URN)10.1109/tmech.2019.2891355 (DOI)000458807900031 ()2-s2.0-85062077621 (Scopus ID)
Note

QC 20190507

Available from: 2019-04-12 Created: 2019-04-12 Last updated: 2019-05-07Bibliographically approved
Huo, X. M., Lian, B., Sun, T. & Song, Y. M. (2019). Parameterized inverse kinematics of parallel mechanism based on CGA. In: EuCoMeS 2018 Proceedings of the 7th European Conference on Mechanism Science: . Paper presented at EuCoMeS 2018 Proceedings of the 7th European Conference on Mechanism Science, 4-6 september, 2018 (pp. 340-346). Springer Netherlands, 59
Open this publication in new window or tab >>Parameterized inverse kinematics of parallel mechanism based on CGA
2019 (English)In: EuCoMeS 2018 Proceedings of the 7th European Conference on Mechanism Science, Springer Netherlands, 2019, Vol. 59, p. 340-346Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Springer Netherlands, 2019
Series
Mechanisms and Machine Science, ISSN 2211-0984
Keywords
Conformal geometric algebra, Inverse kinematics, Joint displacement, Parallel mechanism, Algebra, Degrees of freedom (mechanics), Joints (anatomy), Mechanisms, Parameterization, Screws, 3 degrees of freedom, Analytical inverse kinematics, Closure equations, Design and control, Inverse kinematic models, Parallel mechanisms, Performance analysis, Inverse problems
National Category
Mathematics
Identifiers
urn:nbn:se:kth:diva-236339 (URN)10.1007/978-3-319-98020-1_40 (DOI)2-s2.0-85051142557 (Scopus ID)
Conference
EuCoMeS 2018 Proceedings of the 7th European Conference on Mechanism Science, 4-6 september, 2018
Note

QC 20181109

Available from: 2018-11-09 Created: 2018-11-09 Last updated: 2019-08-30Bibliographically approved
Lian, B., Wang, X. V. & Wang, L. (2019). Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during construction. Robotics and Computer-Integrated Manufacturing, 59, 267-277
Open this publication in new window or tab >>Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during construction
2019 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 59, p. 267-277Article in journal (Refereed) Published
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.

Place, publisher, year, edition, pages
Elsevier Ltd, 2019
Keywords
Design optimization, Parallel mechanism, Parameter uncertainty, Pareto-based method, Dynamics, Mechanisms, Optimal systems, Stiffness, Uncertainty analysis, Design optimization problem, Parallel mechanisms, Probabilistic constraints, Static and dynamic optimization, Static and dynamic performance, Particle swarm optimization (PSO)
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:kth:diva-252486 (URN)10.1016/j.rcim.2019.04.008 (DOI)000472694400023 ()2-s2.0-85065011128 (Scopus ID)
Note

QC 20190712

Available from: 2019-07-12 Created: 2019-07-12 Last updated: 2019-07-12Bibliographically approved
Lian, B. (2018). Geometric Error Modeling of Parallel Manipulators Based on Conformal Geometric Algebra. Advances in Applied Clifford Algebras, 28(1), Article ID 30.
Open this publication in new window or tab >>Geometric Error Modeling of Parallel Manipulators Based on Conformal Geometric Algebra
2018 (English)In: Advances in Applied Clifford Algebras, ISSN 0188-7009, E-ISSN 1661-4909, Vol. 28, no 1, article id 30Article in journal (Refereed) Published
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.

Place, publisher, year, edition, pages
Birkhauser Verlag AG, 2018
Keywords
Conformal geometric algebra, Finite motion, Geometric error modeling, Motion and constraints, Parallel manipulator
National Category
Computational Mathematics
Identifiers
urn:nbn:se:kth:diva-224565 (URN)10.1007/s00006-018-0831-5 (DOI)000427260400015 ()2-s2.0-85043242051 (Scopus ID)
Note

QC 20180320

Available from: 2018-03-20 Created: 2018-03-20 Last updated: 2018-04-11Bibliographically approved
Lian, B., Wang, X. V. & Wang, L. Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during construction.
Open this publication in new window or tab >>Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during construction
(English)In: Article in journal (Refereed) Accepted
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-249504 (URN)
Note

QC 20190425

Available from: 2019-04-12 Created: 2019-04-12 Last updated: 2019-04-25Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-6747-8565

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