@inproceedings{0dd88957e7714507b2c0d5db00f8d439,
title = "Configuration Design and Evaluation of Bionic Grinding Manipulator Based on Human Upper Limb",
abstract = "Manual grinding is still the most common treatment method for rod surface defects in special steel factory. In order to realize the robot to replace the workers to complete this work, this paper proposes a 5-degree-of-freedom parallel driving grinding manipulator based on the process of manual grinding. At first, the topological structure and degree of freedom configuration of the mechanism composed of human arm are analyzed. The motional characteristics of the grinding manipulator are determined based on the requirements of rod grinding technology. Then, a variety of executive mechanisms are synthesized. Based on a typical configuration of these executive mechanisms, a parallel driving grinding manipulator with multi branches coupling similar to human upper limb structure is designed. Final, the motional performance evaluation index of the manipulator is defined and the local motional performance of the manipulator is evaluated. The research contents of this paper lay a theoretical foundation for its prototype design and development.",
keywords = "Bionics, Configuration design, Parallel driving mechanism, Performance evaluation, Special steel rod",
author = "Jinzhu Zhang and Hanqing Shi and Tao Wang and Xinjun Liu and Li Jiang and Qingxue Huang",
note = "Publisher Copyright: {\textcopyright} 2021, Springer Nature Switzerland AG.; 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021 ; Conference date: 22-10-2021 Through 25-10-2021",
year = "2021",
doi = "10.1007/978-3-030-89134-3\_59",
language = "英语",
isbn = "9783030891336",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "642--652",
editor = "Xin-Jun Liu and Zhenguo Nie and Jingjun Yu and Fugui Xie and Rui Song",
booktitle = "Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings",
address = "德国",
}