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Journal Articles

An Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU Parallel Robot With Joint Clearances

Xin Liu, Chenkun Qi, Jianfeng Lin, Dongjin Li, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011005.
Paper No: JMR-23-1403
https://doi.org/10.1115/1.4065679
Published Online: June 18, 2024
View Article titled, An Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU Parallel Robot With Joint Clearances
Open the PDF for An Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU Parallel Robot With Joint Clearances in another window
Topics: Errors, Kinematics, Modeling, Robots, Clearances (Engineering), End effectors
Journal Articles

Mechanism Design and Workspace Analysis of a Hexapod Robot With Changeable Morphology

Chenkun Qi, Huayang Li, Xianbao Chen, Zhijun Chen, Weijun Wang, Feng Gao
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2023, 145(11): 113302.
Paper No: MD-23-1254
https://doi.org/10.1115/1.4063005
Published Online: August 29, 2023
View Article titled, Mechanism Design and Workspace Analysis of a Hexapod Robot With Changeable Morphology
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Topics: Knee, Robots, Design, Simulation
Journal Articles

Implementing the Analytical Reachable Body Workspace for Calculating the Obstacle-Crossing Ability of a Hexapod Robot

Chenkun Qi, Huayang Li, Feng Gao, Xianbao Chen, Yue Zhao, Zhijun Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061017.
Paper No: JMR-22-1493
https://doi.org/10.1115/1.4062353
Published Online: May 2, 2023
View Article titled, Implementing the Analytical Reachable Body Workspace for Calculating the Obstacle-Crossing Ability of a Hexapod Robot
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Topics: Ditches, Robots, Simulation
Journal Articles

Stability Analysis and Distortion Compensation of Robot Structure Dynamics for a Hybrid Simulator

Chenkun Qi, Dongjin Li, Yan Hu, Feng Gao, Wenlong Wang, Wei Ma
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2023, 145(7): 073302.
Paper No: MD-22-1772
https://doi.org/10.1115/1.4062148
Published Online: March 29, 2023
View Article titled, Stability Analysis and Distortion Compensation of Robot Structure Dynamics for a Hybrid Simulator
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Topics: Dynamics (Mechanics), Robots, Simulation, Space vehicles, Stability, Contact dynamics
Journal Articles

A Modeling Method for a 6-SPS Perpendicular Parallel Micro-Manipulation Robot Considering the Motion in Multiple Nonfunctional Directions and Nonlinear Hysteresis

Chenkun Qi, Jianfeng Lin, Xin Liu, Feng Gao, Yi Yue, Yan Hu, Baochen Wei
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2023, 145(5): 053301.
Paper No: MD-22-1536
https://doi.org/10.1115/1.4056574
Published Online: January 10, 2023
View Article titled, A Modeling Method for a 6-SPS Perpendicular Parallel Micro-Manipulation Robot Considering the Motion in Multiple Nonfunctional Directions and Nonlinear Hysteresis
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Topics: Micromanipulation, Modeling, Robots, Piezoelectric actuators, Errors
Journal Articles

Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator

Jianfeng Lin, Chenkun Qi, Feng Gao, Yi Yue, Yan Hu, Baochen Wei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041006.
Paper No: JMR-21-1508
https://doi.org/10.1115/1.4055165
Published Online: November 10, 2022
View Article titled, Modeling and Verification for a Three-Degree-of-Freedom Flexure-Based Planar Parallel Micro Manipulator
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Topics: Bending (Stress), Manipulators, Modeling
Proceedings Papers

Inverse Dynamics of a 6-DOF Decoupling Manipulator

Taoran Liu, Feng Gao, Xianchao Zhao, Chenkun Qi
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A070, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34206
https://doi.org/10.1115/DETC2014-34206
View Paper titled, Inverse Dynamics of a 6-DOF Decoupling Manipulator
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Topics: Dynamics (Mechanics), Manipulators, Motors, Kinematics, Torque, Computer simulation, Couplings, Dynamic models, Gravity (Force), Inertia (Mechanics)
Proceedings Papers

Energy Storing Mechanism for a New Hydraulic-Motor Actuated Robot

Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, Jiaqi Zhang
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A055, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12873
https://doi.org/10.1115/DETC2013-12873
View Paper titled, Energy Storing Mechanism for a New Hydraulic-Motor Actuated Robot
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Topics: Hydraulic motors, Robots, Batteries, Engineering simulation, Lithium, Simulation, Springs
Journal Articles

Spring Parameters Design for the New Hydraulic Actuated Quadruped Robot

Xianbao Chen, Feng Gao, Chenkun Qi, Xinghua Tian, Jiaqi Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2014, 6(2): 021003.
Paper No: JMR-13-1093
https://doi.org/10.1115/1.4025754
Published Online: January 7, 2014
View Article titled, Spring Parameters Design for the New Hydraulic Actuated Quadruped Robot
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Topics: Cylinders, Robots, Springs, Pressure