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| 1 | Complete Real Solution of the Five-orientation Motion Generation Problem for a Spherical Four-bar Linkage显示文摘For a spherical four-bar linkage,the maximum number of the spherical RR dyad(R:revolute joint)of five-orientation motion generation can be at most 6.However,complete real solution of this problem has seldom been studied.In order to obtain six real RR dyads,based on Strum's theorem,the relationships between the design parameters are derived from a 6th-degree univariate polynomial equation that is deduced from the constraint equations of the spherical RR dyad by using Dixon resultant method.Moreover,the Grashof condition and the circuit defect condition are taken into account.Given the relationships between the design parameters and the aforementioned two conditions,two objective functions are constructed and optimized by the adaptive genetic algorithm(AGA).Two examples with six real spherical RR dyads are obtained by optimization,and the results verify the feasibility of the proposed method.The paper provides a method to synthesize the complete real solution of the five-orientation motion generation,which is also applicable to the problem that deduces to a univariate polynomial equation and requires the generation of as many as real roots. | ZHUANG Yufeng ZHANG Ying DUAN Xuechao | 2015 | Chinese Journal of Mechanical Engineering2015，28，2： | 1 |
| 2 | Dynamic analysis and vibration attenuation of cable-driven parallel manipulators for large workspace applications显示文摘 | Du Jingli Duan Xuechao Qiu Yuanying | 2013 | Advances in Mechanical Engineering2013，21，5： | 1 |
| 3 | Kernel extreme learning machine‐based general solution to forward kinematics of parallel robots显示文摘The forward kinematics of parallel robots is a challenging issue due to its highly coupled non‐linear relation among branch chains.This paper presents a novel approach to for-ward kinematics of parallel robots based on kernel extreme learning machine(KELM).To tackle with the forward kinematics solution of fully parallel robots,the forward ki-nematics solution of parallel robots is equivalently transformed into a machine learning model first.On this basis,a computational model combining sparrow search algorithm and KELM is then established,which can serve as both regression and classification.Based on SSA‐optimised KELM(SSA‐KELM)established in this study,a binary discriminator for judging the existence of the forward kinematics solution and a multi‐label regression model for predicting the forward kinematics solution are built to obtain the forward kinematics general solution of parallel robots with different structural configurations and parameters.To evaluate the proposed model,a numerical case on this dataset collected by the inverse kinematics model of a typical 6‐DOF parallel robot is conducted,followed by the results manifesting that the binary discriminator with the discriminant accuracy of 88.50%is superior over ELM,KELM,support vector machine and logistic regression.The multi‐label regression model,with the root mean squared error of 0.06 mm for the position and 0.15°for the orientation,outperforms the double‐hidden‐layer back propagation(2‐BP),ELM,KELM and genetic algorithm‐optimised KELM.Furthermore,numerical cases of parallel robots with different structural con-figurations and parameters are compared with state‐of‐the‐art models.Moreover,these results of numerical simulation and experiment on the host computer demonstrate that the proposed model displays its high precision,high robustness and rapid convergence,which provides a candidate for the forward kinematics of parallel robots. | Jun Ma Xuechao Duan Dan Zhang | 2023 | CAAI Transactions on Intelligence Technology2023，8，3： | 0 |
| 4 | The second harmonic generation in GaAs/GaAlAs spherical quantum dots under Woods-Saxon plus attractive inversely quadratic potential显示文摘We examine the profile of second harmonic generation(SHG)for GaAs/GaAlAs spherical quantum dots(QDs)of Woods-Saxon(WS)plus attractive inversely quadratic(AIQ)potential under the joint influence of additional factors(pressure and temperature)and structural parameters(strengths and radius).The energies and wave functions in GaAs/GaAlAs spherical QDs under WS-AIQ limiting potential are calculated using the parametric Nikiforov-Uvarov(NU)method.Depending on the calculated energies and corresponding wave functions,the SHG coefficient is examined by the iterative procedure in the density matrix method for this system.Finally,the calculated results display that a strong SHG coefficient response,and red shift or blue shift energy can be acquired by adjusting parameters. | Xuechao Li Yiming Duan Yongrui Ma | 2022 | Communications in Theoretical Physics2022，74，8： | 0 |
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