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| 1 | Energy Distribution Index for robot manipulators and its application to buffering capability evaluation显示文摘This paper proposes an approach to evaluate the performance of robot manipulator from the view of energy analysis.Based on the dynamics analysis of the manipulator,the Energy Distribution Index(EDI)is defined to depict the energy increment contribution of its subsystem to the whole manipulator.EDI is applied to the evaluation of the buffering capability of the manipulator working under unpredictable and heavy external loads.A series of buffering indices,the Static Buffering Index(SBI), Kineto-Static Buffering Index(KBI),Dynamic Buffering Index(DBI),and Global Buffering Index(GBI)are proposed to evaluate the buffering capability under different conditions.In order to acquire higher calculation accuracy,the general stiffness mapping of manipulators considering the actuator stiffness,inertia of the manipulator,damping,as well as elasticity of linkages is developed.Three different robot manipulators are studied as evaluation cases,in which the buffering structures are mechanism with variable topology,linear springs,and the elasticity of linkages respectively.The case studies show that the indices based on energy analysis have the advantage of coordinate free and are effective for buffering capability evaluation. | WANG Hao ZHAO Kai CHEN GenLiang LIN ZhongQin | 2011 | Science China(Technological Sciences)2011，54，2： | 5 |
| 2 | Forward Dynamics Analysis of the 6-PUS Mechanism Based on Platform-Legs Composite Simulation显示文摘The dynamics analysis plays an important role for the control,simulation and optimization of the parallel manipulators. Normally,the Stewart type manipulators have a platform and several legs. The inverse dynamics can be solved efficiently by taking the advantage of such structural characteristics. However,for the forward dynamics analysis,this structural decomposition still faces challenges from both modeling and computation. In this paper,an efficient approach is proposed for the forward dynamics of the 6-PUS manipulator based on the platform-legs composite simulation. By composite method,the dynamics modeling of the parallel manipulator is separated into the forward dynamics of the platform and the kineto-statics of the legs. The global simulation model can be constructed by connecting the predefined platform model and leg models according to the manipulator's topology. Thus,the global simulation can be decomposed into the independent calculations of purely algebraic equations and ordinary differential equations (ODEs),the computational cost can be reduced and the stability of the simulation can be improved. For the purpose of solving the manipulator's forward dynamics accurately,the algebraic-loop problem is discussed and a closed form algorithm is proposed. A numerical example of the 6-PUS manipulator is given to demonstrate the effectiveness of the proposed approach. The example results show that the modeling efficiency can be improved and the simulation stability can be ensured for decomposing the system equations into purely algebraic equations and ODEs. | WANG Hao CHEN Genliang LIN Zhongqin | 2009 | Chinese Journal of Mechanical Engineering2009，22，4： | 4 |
| 3 | A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell显示文摘Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction,wearable robotics,rehabilitation robotics,etc.In this paper,the authors report on the design,analysis and experiments of a stiffness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami shell.The main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in orthogonal.The stiffness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast,simple and straightforward manner.The kinetostatics and the compliance of the device are analyzed based on an efficient approach to the large deflection problem of the elastic links.A prototype is fabricated to conduct experiments for the assessment of the proposed concept.The results show that the prototype possesses relatively low stiffness under the compliant status and high stiffness under the stiff status with a status switching speed around 80 ms. | Zhuang Zhang Genliang Chen Weicheng Fan Wei Yan Lingyu Kong Hao Wang | 2020 | Chinese Journal of Mechanical Engineering2020，33，5： | 4 |
| 4 | Optimum Selection of Mechanism Type for Heavy Manipulators Based on Particle Swarm Optimization Method显示文摘The mechanism type plays a decisive role in the mechanical performance of robotic manipulators. Feasible mechanism types can be obtained by applying appropriate type synthesis theory, but there is still a lack of effective and efficient methods for the optimum selection among different types of mechanism candidates. This paper presents a new strategy for the purpose of optimum mechanism type selection based on the modified particle swarm optimization method. The concept of sub-swarm is introduced to represent the different mechanisms generated by the type synthesis, and a competitive mechanism is employed between the sub-swarms to reassign their population size according to the relative performances of the mechanism candidates to implement the optimization. Combining with a modular modeling approach for fast calculation of the performance index of the potential candidates, the proposed method is applied to determine the optimum mechanism type among the potential candidates for the desired manipulator. The effectiveness and efficiency of the proposed method is demonstrated through a case study on the optimum selection of mechanism type of a heavy manipulator where six feasible candidates are considered with force capability as the specific performance index. The optimization result shows that the fitness of the optimum mechanism type for the considered heavy manipulator can be up to 0.578 5. This research provides the instruction in optimum selection of mechanism types for robotic manipulators. | ZHAO Yong CHEN Genliang WANG Hao LIN Zhongqin | 2013 | Chinese Journal of Mechanical Engineering2013，26，4： | 3 |
| 5 | Synthesis and Properties of Functionalized Schiff Bases of 5α,10α-Di(4-hydroxylphenyl)calix[4]pyrrole and 5α,15β-Di(4-hydroxylphenyl)calix|4] pyrrole显示文摘 | HAN Ying SUN Juanjuan WANG Genliang YAN Chaoguo | 2014 | Chemical Research in Chinese Universities2014，30，6： | 2 |
| 6 | 99mTc-Labeled Small-Molecule Inhibitors of Prostate-Specific Membrane Antigen for Molecular Imaging of Prostate Cancer显示文摘 | Shawn M. Hillier Kevin P. Maresca Genliang Lu Ross D. Merkin John C. Marquis Craig N. Zimmerman William C. Eckelman John L. Joyal John W. Babich | 2013 | Journal of Nuclear Medicine2013，，8： | 2 |
| 7 | Development of Purification Technology of Natural Gas in Sichuan显示文摘DevelopmentofPurificationTechnologyofNaturalGasinSichuan￥ChenGenliang(President,InstiiuteofNaturalGnsTechnology,SichuanPeirol... | Chen Genliang(President, Instiiute of Natural Gns Technology,Sichuan Peiroleum A dministration) | 1995 | China Oil & Gas1995，2，3： | 2 |
| 8 | The Pellet Enhanced Performance on the HL-2A Tokamak显示文摘 | DING Xuantong YANG Qingwei YAN Longwen ZHU Genliang CAO Zeng XIAO Zhenggui GAO Qingdi LONG Yongxing LIU Dequan LIU Yi ZHOU Yan PAN Yudong CUI Zhengying HUANG Yuan LIU Zetian SHI Zhongbing JI Xiaoquan XIAO Weiwen LIU Yong | 2006 | Southwestern Institute of Physics Annual Report2006，，1： | 1 |
| 9 | Numerical modeling of a low temperature high velocity air fuel spraying process with injection of liquid and metal particle 显示文摘 | Yuan Xiaojing Wang Hangong Hou Genliang | 2006 | Journal of Thermal Spray Technology2006，15，3： | 1 |
| 10 | Semantic context based refinement for news video annotation 显示文摘 | Wang Zhiyong Guan Genliang Qiu Yu | 2013 | Multimedia Tools and Applications2013，67，3： | 1 |
| 11 | A unifiedapproach to the accuracy analysis of planar parallelmanipulators both with input uncertainties and jointclearance显示文摘 | CHEN Genliang WANG Hao LIN Zhongqin | 2013 | Mechanism and Machine Theory2013，64，： | 1 |
| 12 | An Embedded Control System Designed Based on Soft PLC 显示文摘 | Zhou QingguoYang Xuhui Han Genliang Yang | 2014 | Multimedia and Ubiquitous Engineering2014，308，： | 1 |
| 13 | Tribological properties of magnesium silicate powders prepared by ball milling 显示文摘 | XIAO Zhou SU Xunjia HOU Genliang | 2011 | Key Eng Mater2011，483，： | 1 |
| 14 | Structure formation ^ndcharacterization of PVDF hollow fiber membrane prepared via TIPSwith diluent rnixture显示文摘 | Ji Genliang Zhu Liping Zhu Baoku | 2008 | Joumal of Membrane Science2008，319，： | 1 |
| 15 | A unified ap- proach to the accuracy analysis of planar parallel manipu- lators both with input uncertainties and joint clearance 显示文摘 | Chert Genliang Wan Hao Lin Zhongqin | | Mechanism and Machine Theory0，64，： | 1 |
| 16 | Preparation of porousPVDF membrane via thermally induced phase separation withdiluent mixture of DBP and DEHP显示文摘 | Ji Genliang Du Chunhui Zhu Baoku | 2007 | Joumal of Applied PolymerScience2007，105，： | 1 |
| 17 | Detection of quanti- tative trait loci for white-back and basalwhite kernels under high temperature stress in japonica rice varieties显示文摘 | Kobayashi A Genliang B Shenghai Y | | Breeding science0，57，2： | 1 |
| 18 | Determi- nation of the Identifiable Parameters in Robot Cali- bration Based on the POE Formula 显示文摘 | Chen Genliang Wang Hao Lin Zhongqin | 2014 | IEEE Transactions on Robotics2014，30，5： | 1 |
| 19 | Inflow performance of a horizontal well intersecting natural fractures 显示文摘 | Guo Genliang Evans R D | 1993 | SPE 255011993，，： | 1 |
| 20 | Pressure-Transient Behavior and Inflow Performance of Horizontal Wells Intersecting Discrete Fractures 显示文摘 | Evans R D | 1993 | SPE264461993，，： | 1 |
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