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Journal Articles

Design of a New Family of Kinematically Redundant Parallel Mechanisms With Two Rotations and One Translation

Zhen Wu, Qinchuan Li, Wei Ye
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2023, 145(5): 053303.
Paper No: MD-22-1551
https://doi.org/10.1115/1.4056671
Published Online: February 10, 2023
View Article titled, Design of a New Family of Kinematically Redundant Parallel Mechanisms With Two Rotations and One Translation
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Topics: Design, Kinematics, Parallel mechanisms
Journal Articles

Kinematic Analysis and Dimension Optimization of a New Reconfigurable Parallel Mechanism With 1R2T and 2R1T Operation Modes

Wei Ye, Lihuan Hu, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060914.
Paper No: JMR-21-1728
https://doi.org/10.1115/1.4055327
Published Online: September 12, 2022
View Article titled, Kinematic Analysis and Dimension Optimization of a New Reconfigurable Parallel Mechanism With 1R2T and 2R1T Operation Modes
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Topics: Dimensions, Kinematic analysis, Kinematics, Optimization, Parallel mechanisms, Screws, Universal joints, Performance evaluation, Engineering prototypes, Switches
Journal Articles

Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator With Rotational Pitch Motion for Assembly Operations

Xiansheng Yang, Zhilong Zhao, Hao Xiong, Qinchuan Li, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040910.
Paper No: JMR-20-1627
https://doi.org/10.1115/1.4050812
Published Online: April 22, 2021
View Article titled, Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator With Rotational Pitch Motion for Assembly Operations
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Topics: Design, Engineering prototypes, Kinematics, Manipulators, Manufacturing, Optimization, Scanning probe microscopy, Kinematic analysis, Actuators, Rotation
Journal Articles

The Modeling of Redundantly Actuated Mechanical Systems

Yaojun Wang, Bruno Belzile, Jorge Angeles, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061005.
Paper No: JMR-19-1074
https://doi.org/10.1115/1.4044540
Published Online: October 9, 2019
View Article titled, The Modeling of Redundantly Actuated Mechanical Systems
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Topics: Actuators, Dynamics (Mechanics), Modeling, Robots, Torque, Kinematics, Machinery, Redundancy (Engineering)
Journal Articles

Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy

Lingmin Xu, Xinxue Chai, Qinchuan Li, Liangan Zhang, Wei Ye
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031016.
Paper No: JMR-18-1409
https://doi.org/10.1115/1.4042628
Published Online: April 11, 2019
View Article titled, Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy
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Topics: Design, Kinematics, Redundancy (Engineering), Machinery, Mechanical admittance, Engineering prototypes
Journal Articles

Analytical Elastostatic Stiffness Modeling of Overconstrained Parallel Manipulators Using Geometric Algebra and Strain Energy

Qinchuan Li, Lingmin Xu, Qiaohong Chen, Xinxue Chai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031007.
Paper No: JMR-18-1292
https://doi.org/10.1115/1.4043046
Published Online: April 9, 2019
View Article titled, Analytical Elastostatic Stiffness Modeling of Overconstrained Parallel Manipulators Using Geometric Algebra and Strain Energy
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Topics: Stiffness, Modeling, Algebra, Finite element analysis
Journal Articles

Kinematic Calibration of a Three Degrees-of-Freedom Parallel Manipulator With a Laser Tracker

Leiying He, Qinchuan Li, Xubiao Zhu, Chuanyu Wu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2019, 141(3): 031009.
Paper No: DS-17-1007
https://doi.org/10.1115/1.4041749
Published Online: November 22, 2018
View Article titled, Kinematic Calibration of a Three Degrees-of-Freedom Parallel Manipulator With a Laser Tracker
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Topics: Calibration, Errors, Kinematics, Lasers, Manipulators, Parallel mechanisms
Proceedings Papers

Kinematic Analysis and Dimensional Synthesis of a New 2R1T Parallel Kinematic Machine

Lingmin Xu, Xubiao Zhu, Wei Ye, Qinchuan Li, Qiaohong Chen
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A030, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85278
https://doi.org/10.1115/DETC2018-85278
View Paper titled, Kinematic Analysis and Dimensional Synthesis of a New 2R1T Parallel Kinematic Machine
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Topics: Kinematic analysis, Kinematics, Machinery, Engineering prototypes, Machining, Mechanical admittance, Rotation, Universal joints
Journal Articles

A New Family of Symmetrical 2T2R Parallel Mechanisms Without Parasitic Motion

Wei Ye, Leiying He, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011006.
Paper No: JMR-17-1171
https://doi.org/10.1115/1.4038527
Published Online: December 20, 2017
View Article titled, A New Family of Symmetrical 2T2R Parallel Mechanisms Without Parasitic Motion
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Topics: Chain, Construction, Displacement, Kinematics, Parallel mechanisms, Symmetry (Physics), Rotation
Journal Articles

Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy

Lingmin Xu, Qinchuan Li, Ningbin Zhang, Qiaohong Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041008.
Paper No: JMR-16-1280
https://doi.org/10.1115/1.4036517
Published Online: May 2, 2017
View Article titled, Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy
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Topics: Design, Kinematics, Manipulators, Mechanical admittance, Optimization, Displacement, Redundancy (Engineering), Screws, Universal joints, Kinematic analysis
Journal Articles

Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery

Qinchuan Li, Jacques Marie Hervé, Pengcheng Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031012.
Paper No: JMR-16-1207
https://doi.org/10.1115/1.4035989
Published Online: March 23, 2017
View Article titled, Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery
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Topics: Chain, Generators, Actuators, Manipulators, Kinematics, Surgery
Journal Articles

New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators

Qinchuan Li, Ningbin Zhang, Feibo Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2017, 9(1): 011007.
Paper No: JMR-16-1183
https://doi.org/10.1115/1.4035126
Published Online: December 2, 2016
View Article titled, New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators
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Topics: Actuators, Design, Manipulators, Optimization
Journal Articles

Mobility Analysis of Limited-Degrees-of-Freedom Parallel Mechanisms in the Framework of Geometric Algebra

Qinchuan Li, Xinxue Chai, Ji'nan Xiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041005.
Paper No: JMR-15-1210
https://doi.org/10.1115/1.4032210
Published Online: March 7, 2016
View Article titled, Mobility Analysis of Limited-Degrees-of-Freedom Parallel Mechanisms in the Framework of Geometric Algebra
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Topics: Algebra, Blades, Mechanical admittance, Parallel mechanisms, Reactor protection systems
Journal Articles

Optimal Design of a 2-UPR-RPU Parallel Manipulator

Feibo Wang, Qiaohong Chen, Qinchuan Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. May 2015, 137(5): 054501.
Paper No: MD-14-1674
https://doi.org/10.1115/1.4029587
Published Online: May 1, 2015
View Article titled, Optimal Design of a 2-UPR-RPU Parallel Manipulator
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Topics: Design, Manipulators, Optimization
Proceedings Papers

Computer-Aided Edge Loop Theory of Kinematic Structure of Mechanisms and Its Applications

Huafeng Ding, Jing Zhao, Qinchuan Li, Zhen Huang
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 433-439, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86073
https://doi.org/10.1115/DETC2009-86073
View Paper titled, Computer-Aided Edge Loop Theory of Kinematic Structure of Mechanisms and Its Applications
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Topics: Algebra, Algorithms, Chain, Computation, Computer-aided engineering, Kinematic analysis, Kinematic chains, Kinematics
Proceedings Papers

CAD-Based Automatic Generation of Robot Trajectory in Shoe Spray Systems

Chuanyu Wu, Leiying He, Xudong Hu, Qinchuan Li
Proc. ASME. IDETC-CIE2007, Volume 4: ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications and the 19th Reliability, Stress Analysis, and Failure Prevention Conference, 203-208, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34153
https://doi.org/10.1115/DETC2007-34153
View Paper titled, CAD-Based Automatic Generation of Robot Trajectory in Shoe Spray Systems
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Topics: Computer-aided design, Robots, Sprays, Trajectories (Physics)
Proceedings Papers

Jacobian Derivation of 5-DOF 3R2T Parallel Mechanisms

Qinchuan Li, Xudong Hu, Zhen Huang
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 727-731, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57276
https://doi.org/10.1115/DETC2004-57276
View Paper titled, Jacobian Derivation of 5-DOF 3R2T Parallel Mechanisms
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Topics: Parallel mechanisms, Jacobian matrices, Mechanical admittance, Degrees of freedom, Kinematic chains, Screws
Proceedings Papers

Two Novel Spherical 3-DOF Parallel Manipulators With Circular Prismatic Pairs

Qinchuan Li, Qiaohong Chen, Chuanyu Wu, Xudong Hu
Proc. ASME. IDETC-CIE2006, Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B, 325-328, September 10–13, 2006
Publisher: American Society of Mechanical Engineers
Paper No: DETC2006-99038
https://doi.org/10.1115/DETC2006-99038
View Paper titled, Two Novel Spherical 3-DOF Parallel Manipulators With Circular Prismatic Pairs
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Topics: Manipulators, Parallel mechanisms, Degrees of freedom, Mechanical admittance, Screws