Parallel 2020 · Chair: Jing-Shan Zhao. (12mins presentation + 5 mins Q&A per paper). Design of a...

Parallel 2020

The 4th international conference on fundamental issues,

applications and future research directions for parallel

mechanisms / manipulators / machines

Virtual Conference

https://www.qub.ac.uk/sites/Parallel2020/

Belfast, United Kingdom

9-11 September 2020


The 4th INTERNATIONAL CONFERENCE ON FUNDAMENTAL ISSUES, APPLICATIONS AND FUTURE

RESEARCH DIRECTIONS FOR PARALLEL MECHANISMS / MANIPULATORS / MACHINES

Belfast, UK, 9-11 September 2020

Prof. Yan Jin Prof. Jian S. Dai

Welcome

Following the first workshop on parallel mechanisms and manipulators in Québec held by Clément Gosselin and Imme Ebert-Uphoff, second edition in Montpellier held by François Pierrot, Nicolas Andreff, Olivier Company, Marc Gouttefarde and Sébastien Krut, and third edition in Tianjin held by Tian Huang and Jian Dai, we are organizing the fourth edition in 2020 in Belfast, United Kingdom. UK is a founding member of IFToMM and has carried out the pioneering work in the field of parallel mechanisms / manipulators / robots / machines. Dated back to 1940's, Dr. Eric Gough, a distinguished automotive engineer at Dunlop Rubber Co., Birmingham, England, invented and built the first octahedral hexapod, which changed the industry and has been replicated over a thousand times. Recent pioneering work is exampled by the research in the field of reconfigurable mechanisms and the sub-field of metamorphic mechanisms. Queen's University Belfast (QUB), the host of this conference, is one of the oldest Russel Group Universities in the UK. QUB made a great contribution to the development of parallel kinematic technology. Back to early 1990’s, QUB conducted the feasibility study for the first prototype of parallel kinematic machine (PKM) tools in the world, collaborated with the Ingersoll Milling Machine Company. Recently QUB developed a ground-breaking application technology with the Exechon PKM for automated aircraft assembly. Joint work between QUB and King’s College London pushes the theoretical work into practice. Although a significant progress has been made in the field, there are still a lot of interesting and intractable challenges ahead. Parallel 2020 seeks to bring together experts in the area from around the globe in order to disseminate recent research progress and to identify the




most promising future research directions for parallel mechanisms / manipulators / robots and parallel kinematic machine technology, in order to tackle these challenges effectively, efficiently and collaboratively, for a better world. Due to Covid-19, it is unfortunate we cannot physically convene at Belfast, but we arrange a very nice web conference for you to listen, to question, to interact and to participate. We also welcome you to visit Belfast and visit QUB when circumstances allow. We shall be waiting for you here. We wish you enjoy the virtual conference and find it useful.

Professor Yan Jin Professor Jian S. Dai




Programme Chairs

Rao Fu, School of Mechanical & Aerospace Engineering, Queen’s University Belfast, UK

Pablo Lopez-Custodio, School of Natural and Mathematical Sciences, King's College London

Industrial Liaison Chair

Colm Higgins, Northern Ireland Technology Centre, Queen's University Belfast, UK

Organising Committee

Yinglun Jian, School of Mechanical & Aerospace Engineering, Queen’s University Belfast

Kartikey Mathur, School of Mechanical & Aero. Engineering, Queen’s University Belfast

Ye Yang, School of Mechanical & Aerospace Engineering, Queen’s University Belfast

Associate Editors Prof. Dongming Gan, Purdue University, USA

Prof. Guangbo Hao, University College Cork, Ireland

Prof. Xianwen Kong, Heriot-Watt University, UK

Prof. Chin-Hsing Kuo, University of Wollongong, Australia

Prof. Guowu Wei, University of Salford, UK

Prof. Ketao Zhang, Queen Mary University of London, UK

Prof. Wuxiang Zhang, Beihang University, China

Best Paper Award Committee

Secretariat of Parallel2020

School of Mechanical & Aerospace Engineering

Queen’s University Belfast, UK

Email: [email protected]

URL: https://www.qub.ac.uk/sites/Parallel2020/

mailto:[email protected]





TECHNICAL COMMITTEE (alphabetical order)

Andreas Müller Johannes Kepler University Linz, Austria

Andres Kecskemethy University Duisburg-Essen, Germany

Anurag Purwar Stony Brook University, USA

Carl Nelson University of Nebraska at Lincoln, USA

Clément Gosselin Laval University, Canada

Dan Zhang, York University, Canada

Daniel Martins Federal University of Santa Catarina, Brazil

Daxing Zeng Yanshan university, China

Delun Wang Dalian University of Technology, China

Dongming Gan University of Califa, UAE

Dragos Axinite The University of Nottingham, UK

Ernesto Rodrigues-Leal Technology de Monterrey, Mexico

Federico Thomas Spanish National Research Council, Spain

Feng Gao Shanghai Jiao Tong University, China

Fengfeng Xi Ryerson University, Canada

Francois Pierrot LIRMM, CNRS & Université de Montpellier, France

Frank Park Seoul National University, Korea

Gloria Wiens Univ. of Florida, US

Grigore Gogu Institute Pascal, France

Guilin Yang Chinese Academy of Sciences, China

Helge Wurdemann University College London, UK

James Schmiedeler University of Notre Dame, US

Jean-Pierre Merlet INRIA, France

Jian S. Dai King's College London, UK,

Jingshan Zhao Tsinghua University, China

John McPhee University of Waterloo, Canada

Jon Selig London South Bank University

Jorge Angeles McGill University, Canada

Jun Zhang Fuzhou University, China

Just Herder Delft Univ. of Technology, The Netherlands

Ketao Zhang Queen Mary University London, UK

Manfred Husty University Innsbruck, Austria

Marc Gouttefarde CNRS - Université de Montpellier




Marco Ciccarelli University of Cassino, Italy

Massimo Caligari UNIVPM, Italy

Mike McCarthy University of California, Irvine, US

Moshe Shoham Technion, Israel

Pierre M. Larochelle South Dakota School of Mines & Technology

Qinchuan Li Zhejiang Sci-Tech University, China

Raffaele Di Gregorio University of Ferrara, Italy

Shaoping Bai Aalborg University, Denmark

Sunil Agrawal Univ. of Delaware, US

Tian Huang Tianjin Univ., P.R. China

Venkat Krovi Clemson University

Vincenzo Parenti-Castelli Univ. of Bologna, Italy

Weizhong Guo Shanghai Jiao Tong University, China

Wuxiang Zhang, Beihang University, China

Xianwen Kong Heriot-Watt University, UK

Xilun Ding, Beihang University, China

Xinjun Liu Tsinghua University, China

Yan Jin Queen’s Univ. Belfast, UK

Yangmin Li Hong Kong Polytechnic University, China

Yukio Takeda Tokyo Inst. of Technology, Japan

Zexiang Li Hong Kong University of Science & Technology, China




Parallel 2020 Draft Programme


Wednesday 9th Sept 2020

BST (UK time)

Online meeting room channel

13:00 Welcome & Introduction: Prof. Chris Johnson, Pro-Vice-Chancellor, Faculty of EPS, Queen’s University Belfast Prof. Jian S. Dai, Parallel 2020 Chair, King’s College London Prof. Yan Jin, Parallel 2020 Chair, Queen’s University Belfast

13:15 – 15:30

Keynote Session 1 (45 min each)

Prof. Clément Gosselin, Laval University, Canada Title: Parallel and Hybrid mechanisms for intuitive physical human-robot interaction

Prof. Sunil K. Agrawal, Columbia University, USA Title: Parallel and Cable Robots to Restore and Retrain Human Movements

Prof. Dragos Axinte, The University of Nottingham, UK Title: Another way to conceptualise parallel kinematic robotic systems

Coffee break for 15 mins

15:45 – 17:15

Technical Session 1: Design and Design Methods, Chair: Chao Chen, Xianwen Kong (12mins presentation + 5 mins Q&A per paper)

30. New family of Translational Parallel Manipulators with Scissor Mechanisms Keenan Granland, Chao Chen and Wesley Au

2. A Novel Method for the Constructing Design of Parallel Mechanisms with RPS Kinematic Chains Yongfeng Wang, Xiangzhan Kong, Guanglin Li and Guoru Zhao

9. Design of a lightweight deployable planar parallel manipulator with tape spring mechanism Yaqi Tang, Huayong Zheng, Lei Tang, Yan Peng, Huayan Pu and Yi Yang

57. Topological classification of robot mechanisms Xianwen Kong

60. On the Grand 5R Five-bar Based Inherently Balanced Linkage Architecture Volkert van der Wijk

17:15-18:00 Virtual welcome reception (self-serve), meeting room open

Thursday 10th Sept 2020

Online meeting room channel 9:00 – 10:30

Technical Session 2: Application for Manufacturing & Assembly, Chair: Jing-Shan Zhao. (12mins presentation + 5 mins Q&A per paper)

4. Design of a Support Mechanism for Manufacturing Large Thin-Shell Workpiece Hong-Tu Luo and Jing-Shan Zhao

10. Analysis and experiments of a 5-DOF hybrid manipulator for manufacturing Yundou Xu, Zhenghe Xu, Fan Yang, Youen Mei, Yulin Zhou, Jiantao Yao and Yongsheng Zhao





13. Conceptual Design and Kinematic Analysis of an Adsorption Machining Robot for Processing of Large-scale Structural Parts Chen Jiakai, Xie Fugui, Liu Xinjun and Bi Weiyao

37. Kinematic Analysis and Design of a New 3T1R Parallel Mechanism for 3C Assembly Zhilong Zhao, Xiansheng Yang and Yunjiang Lou

49. A Novel Orthogonal Parallel Configuration for Piezoelectric Six-axis Force/Torque Sensors Songlin Zhou, Jing Sun, Feng Gao, Yuan Tian and Jimu Liu

10:30 – 10:45

Coffee Break

10:45 – 12:15

Technical Session 3: Calibration / Accuracy, Chair: Binbin Lian (12mins presentation + 5 mins Q&A per paper)

5. The Electromotor Driven Parallel External Fixator for Deformity Correction Guotong Li, Jianfeng Li, Mingjie Dong, Shiping Zuo, Haidong Wang and Wei Li

12. Kinematic calibration of a 3-DoF redundantly actuated parallel manipulator Shu Jia Jiang, Han Liang Fang, Teng Fei Tang and Jun Zhang

36. Determination Method of Gear Tolerance According to Lost Motion Index of Planetary Reducer Huimin Dong, Yi Cheng, Chu Zhang and Delun Wang

50. Kinematic Calibration of an Over-constrained Parallel Mechanism Binbin Lian, Yimin Song, Panfeng Wang and Tao Sun

54. Kinematic Calibration of a Six-Parallel-Legged Mobile Robot Jimu Liu, Feng Gao and Songlin Zhou

12:15-13:30 Lunch Break

13:30 – 15:00

Keynote Session 2, Chair: Prof. Yan Jin

Mr Kalle Neumann, CEO of Exechon Ltd., Sweden Title: PKM, the natural choice for Electrical Vehicles

Prof. Tian Huang, Tianjin University, China Title: Some Issues on the Integrated Design of a 5-DOF Hybrid Robot Module for Machining

15:00 – 16:00

Expert Panel forum – Open Q & A on future directions, challenges and opportunities on R&D of Parallel Mechanism/Robot/Machines, Chair: Prof. Jian Dai Panel members: Prof. Sunil K. Agrawal, Prof. Dragos Axinte, Prof. Clément Gosselin, Prof. Tian Huang, Prof. Andres Kecskemethy, Prof. Michael McCarthy, Mr Kalle Neumann, Prof. Yukio Takeda

Coffee break for 15 mins

16:15 – 17:45

Technical Session 4: Design and Kinematics, Chair: Ketao Zhang, Fengfeng Xi (12mins presentation + 5 mins Q&A per paper)

18. Design of High-Speed Lower-Mobility Parallel Robot by Kinematic Index Based on Power Efficiency Nguyen Duc Sang and Yukio Takeda

56. A Type-III Bennett Plano-Spherical Linkage Evolved Parallel Manipulator and Design of a Novel Inflatable Bending Actuator for Reconfiguration

Ketao Zhang




3. Kinematics Analysis of A 3- Dof Parallel Mechanisms Driven by Shape Memory Alloy Springs Yongfeng Wang, Xiangzhan Kong, Guanglin Li and Guoru Zhao

1. Two Actuation Methods for a Complete Morphing System Fengfeng Xi, Jieyu Wang, Yinjun Zhao, Yingzhong Tian and Wenbin Wang

7. Workspace Enlargement and Joint Trajectory Optimisation of a (6+3)-DoF Kinematically Redundant Hybrid Robot Kefei Wen and Clément Gosselin

Friday 11th Sept 2020

Online meeting room channel 9:00 – 10:45

Technical Session 5: Statics and Compliant Parallel Mechanisms, Chair: Guangbo Hao, (12mins presentation + 5 mins Q&A per paper)

14. Kinetostatics Modeling and Analysis of Parallel Continuum Manipulators Genliang Chen, Yezheng Kang, Hao Pan and Hao Wang

32. Kinetostatic Interval Model based Analysis of Exechon-like Parallel Kinematic Machine with Parameter Uncertainties Tengfei Tang and Jun Zhang

17. Kinetostatic Modeling of Dual-Drive H-Gantry with Exchangeable Flexure Joints Chao Jiang, Silu Chen, Hongtao Yu, Miao Yang, Chunrong Hua, Chi Zhang and Guilin Yang

59. Compliance Analysis of Exechon Manipulators with An Offset Wrist Pablo Cesar Lopez-Custodio, Rao Fu, Jian S. Dai and Yan Jin

6. Framework Design of Fast Steer Mirror Oriented Four-Degrees-of-Freedom Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling Guangbo Hao, Haiyang Li, Yu-Hao Chang and Chien-Sheng Liu

31. Joint Equivalence Analysis of a 3-DOF Parallel-mechanism-like Tensegrity Compliant Joint Bingxing Chen, Hongzhou Jiang and Jingxuan Liu

10:45 – 11:00

Coffee Break for 15 mins

11:00 – 12:30

Technical session 6: Dynamics and Cable-driven Parallel Robots, Chair: Patrice Lambert, (12mins presentation + 5 mins Q&A per paper)

33. Identification of dynamic parameters of parallel kinematics mechanism with varying friction Abdur Rosyid and Bashar El-Khasawneh

34. Dynamics of Nonsymmetric Planar Parallel Mechanism with Fully Flexible Links Abdur Rosyid, Bashar El-Khasawneh and Anas Alazzam

46. Dynamics of a Schonflies-motion Parallel Mechanism at Singularity Crossing Bimo Jati Putro, Latifah Nurahmi, Guowu Wei and Dongming Gan

35. Comparative analysis on TBot high-speed cable-driven parallel robot and Delta Jinhao Duan, Zhufeng Shao, Zhaokun Zhang and Fazhong Peng

53. A 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform Patrice Lambert, Lyndon Da Cruz and Christos Bergeles

12:30-13:15

Lunch Break for 45 mins




13:15 – 13:45

Lab virtual tour of Northern Ireland Technology Centre – Colm Higgins, Head of Northern Ireland Research Centre, QUB, Chair: Yan Jin

13:45 – 14:55

Technical session 7: Mobile Parallel Robots & Application for Rehabilitation, Chair: Yukio Takeda, (12mins presentation + 5 mins Q&A per paper)

47. Exploiting Limited Workspace of a Hexapod Robot with Parallel Mechanism Legs for Stairs Climbing Liheng Mao, Yuan Tian, Feng Gao and Songlin Zhou

51. A transformable mobile robot constructed by a reconfigurable parallel mechanism Yaobin Tian, Kun Xu, Shengnan Lyu, Xilun Ding and Cheng Cai

44. Kinematic analysis of a novel reconfigurable parallel mechanism for multi-joint rehabilitations Ruiqin Li, Wangwang Guo, Wenbo Mi and Jianwei Zhang

48. Kinematic Design of a 3-RPS Parallel Mechanism for Wrist Rehabilitation Xinghai Liang, Kosuke Irube and Yukio Takeda

Coffee break for 15mins

15:10– 17:00

Technical session 8: Kinematics, Chair: Martin Pfurner, Xiguang Huang (12mins presentation + 5 mins Q&A per paper)

15. Analytical Solution for the Largest Box Reachable by the Delta Parallel Robot Amir Hashemi Dastjerdy, Mohammad Morad Sheikhi and Mehdi Tale Masouleh

16. Coupler Pose Curves for Planar 4R Mechanisms Zachary Copeland and M. John D. Hayes

40. A CGA Approach to the Direct Kinematic Analysis of 3-RPR Planar Parallel Manipulators Xiguang Huang

55. Complete Kinematic Analysis of a 2-RRC-1-RSS Parallel Manipulator Abhilash Nayak, Martin Pfurner, Huiping Shen and Manfred Husty

61. On a method for performance evaluation of the decoupled motion output of a non-linear parallel mechanism Abdullah Yaşır, Volkert van der Wijk, Fred van Keulen and Just Herder

62. On Homotropy Continuation Based Singularity Distance Computations for 3-RPR Manipulators Aditya Kapilavai and Georg Nawratil

17:00 – 17:30

Best paper award and wrap up




Keynote Speakers

Sunil K. Agrawal, Ph.D., Professor, Department of Mechanical Engineering and Department of Rehabilitation and Regenerative Medicine, Columbia University, New York, NY 10027, USA. (Email: [email protected], Web: https://roar.me.columbia.edu )

Title: Parallel and Cable Robots to Restore and Retrain Human Movements

Abstract: Neural disorders and old age limit the ability of humans to perform activities of daily living. Robotics can be used to probe the human neuromuscular system and create new pathways to characterize, relearn, and restore functional movements. Dr. Agrawal’s group at Columbia University Robotics and Rehabilitation (ROAR) Laboratory has designed innovative parallel robots for this purpose. These parallel and cable-driven robots have been tested in a variety of studies to understand the human neuro-muscular response. Human experiments have targeted patients with stroke, cerebral palsy, Parkinson’s disease, ALS, Vestibular disorders, elderly subjects and others. The talk will provide an overview of some of these robots and scientific studies performed with them.

Biography: Sunil K. Agrawal received a Ph.D. degree in Mechanical Engineering from Stanford

University in 1990. He is currently a Professor and Director of Robotics and Rehabilitation (ROAR)

Laboratory at Columbia University, located both in engineering and medical campuses of Columbia

University. Dr. Agrawal has published more than 500 journal and conference papers, three books, and

15 U.S. patents. He is a Fellow of the ASME and AIMBE. His honors include a NSF Presidential Faculty

Fellowship from the White House in 1994, a Bessel Prize from Germany in 2003, and a Humboldt US

Senior Scientist Award in 2007. He is a recipient of 2016 Machine Design Award from ASME for

“seminal contributions to design of robotic exoskeletons for gait training of stroke patients” and 2016

Mechanisms and Robotics Award from the ASME for “cumulative contributions and being an

international leading figure in mechanical design and robotics”. He is a recipient of several Best Paper

awards in ASME and IEEE sponsored robotics conferences. He has also held international visiting

positions that include Technical University of Stuttgart, Hanyang University in Korea, University of

Ulster in Northern Ireland, Biorobotics Institute of SSSA in Pisa, Peking University in China. He has

successfully directed 30 PhD student theses and currently supervises the research of 10 PhD students

at ROAR laboratory. He is the founding Editor-in-Chief of the journal “Wearable Technologies” from

Cambridge University Press. He is the Conference Chair for IEEE BioRob2020 to be hosted in New York

city.

mailto:[email protected]

https://roar.me.columbia.edu/




Google Scholar Page:

https://scholar.google.com/citations?hl=en&user=zavGyr4AAAAJ&view_op=list_works&sortby=pub

date

Dragos Axinte, Professor and Chair of Manufacturing Engineering and

Director of the Rolls-Royce UTC in Manufacturing and On-Wing

Technology at University of Nottingham.

Title: Another way to conceptualise parallel kinematic robotic systems

Abstract: Despite of its strategic importance, the area of robotics for in-

situ repair of large/intricate/complex geometry industrial equipment has

been, somehow, not obtained full attention from researchers. However,

due to the special operating and workspace conditions, off-the-shelf

robots miss the dexterity and/or the necessary flexibility to perform such

in-situ repair tasks. To address these challenges, Prof. Axinte’s group at University of Nottingham has

developed a series of innovative designs of walking hexapod machine tools that could work both

independently or coupled with other robotic systems to perform complex tasks in-situ industrial

environments where human access and/or conventional robots cannot reach easily. Our robotised

machine tool systems are capable to walk within hazardous and perform processing tasks (e.g.

machining, inspection). The presentation will allow an inside into the design concepts (e.g. mechanical

structure, actuation, calibration) of both walking hexapod machine tools and their integration into

hybrid platforms as well as the governing models and control strategies and further comment on the

challenges related to the realisation of such a complex mechatronic system. Examples of the

demonstrations of our robotic system will be presented in relation to targeted industrial applications

related to high-value industrial systems.

Biography: Dragos Axinte is Professor and Chair of Manufacturing Engineering and Director of the

Rolls-Royce UTC in Manufacturing and On-Wing Technology at University of Nottingham. Dragos is an

active researcher in the areas of machining technologies and machine tools from where he developed

an interest in developing robotic systems for in-situ repair of large and crammed industrial systems.

After the completion of his PhD and ten years in R&D in industry, Dragos was recipient of two NATO

Advanced Research Fellowships in Italy and Denmark. He then, moved to the University of Birmingham

to carry out research in high speed machining. Since 2001 he has been working at the University of

Nottingham in the field of advanced machining operations and specialist robotic systems.

Professor Axinte has currently in his research portfolio projects supported by various funding agencies

(Horizon 2020, EPSRC, Innovate UK, ATI, industry). He has over 160 journal publications, 22 patents

and he was the recipient of Rolls-Royce Innovation Award (2011) and Best Patent Award (2012).

Dragos is the Editor-in-Chief of the International Journal of Machine Tools and Manufacture, and

Fellow of the International Academy of Production Engineering (FCIRP).

https://scholar.google.com/citations?hl=en&user=zavGyr4AAAAJ&view_op=list_works&sortby=pubdate

https://scholar.google.com/citations?hl=en&user=zavGyr4AAAAJ&view_op=list_works&sortby=pubdate




Clément Gosselin, Laboratoire de robotique, Université Laval,

Québec, Qc, Canada

Title: Parallel and Hybrid mechanisms for intuitive physical human-

robot interaction

Abstract:

Over the past decades, parallel mechanisms have found applications

in many areas including motion simulation, high-speed robots,

machine-tools and cable-driven systems, to name a few. More

recently, parallel and hybrid mechanisms have been proposed in the

emerging field of physical human-robot interaction (pHRI) which aims at taking advantage of the

complementary capabilities of robots and humans. One of the key challenges in pHRI is to provide an

intuitive physical interaction to the human user. Due to their low moving inertia, parallel mechanisms

can be used advantageously to design low-impedance mechanical interfaces in order to increase the

mechanical bandwidth of the human-robot interaction, thereby leading to a very intuitive behaviour.

In this presentation, the use of parallel and hybrid mechanisms in the design of pHRI devices is

proposed and examples of prototypes developed at Laval University are shown. Solutions based on

passive or actuated mechanisms are illustrated. The results clearly demonstrate the capability of

parallel mechanisms to provide high interaction bandwidth for pHRI robots.

Biography:

Clément Gosselin received the B. Eng. degree in Mechanical Engineering from the Université de Sherbrooke in 1985, and the Ph.D. degree from McGill University in 1988. He was then a post-doctoral fellow at INRIA in Sophia-Antipolis, France in 1988-89. In 1989 he joined the Department of Mechanical Engineering at Université Laval, Québec where he is a Full Professor since 1997. He is currently holding a Canada Research Chair in Robotics and Mechatronics since January 2001. He was a visiting researcher at the RWTH in Aachen, Germany in 1995, at the University of Victoria, Canada in 1996 and at the IRCCyN in Nantes, France in 1999. His research interests are kinematics, dynamics and control of robotic mechanical systems with a particular emphasis on the mechanics of grasping, the kinematics and dynamics of parallel manipulators and the development of human-friendly robots. His work in the aforementioned areas has been the subject of numerous publications in international journals and conferences as well as of several patents and two books. He has been directing many research initiatives, including collaborations with several Canadian and foreign high-technology companies and he has trained more than 100 graduate students. He is an Associate Editor of the IEEE Robotics and Automation Letters and of the ASME Journal of Mechanisms and Robotics. Dr. Gosselin received several awards including the ASME DED Mechanisms and Robotics Committee Award in 2008 and the ASME Machine Design Award in 2013. He was appointed Officer of the Order




of Canada in 2010 for contributions to research in parallel mechanisms and underactuated systems. He is a fellow of the ASME, of the IEEE and of the Royal Society of Canada.

Tian Huang, Professor, Tianjin University China, University of Warwick UK

Title: Some Issues on the Integrated Design of a 5-DOF Hybrid Robot

Module for Machining

Abstract: In recent years, it has witnessed high demands for robotized

cells for large parts manufacturing. A feasible and cost effective

solution to implement such operations is to employ a full 5-DOF hybrid

kinematic machine (or hybrid robot) which can be made as a plug-and-

play robotized module mounted on a long reference track such that it

can be rapidly and exactly located in the area where machining needs

to be performed in situ. Driven by the motivation to develop new

robotic structures comprehensive to the existing Tricept and Exechon, we propose a novel 5-DOF

hybrid robot named TriMule. This presentation will address some important issues in the integrated

design of such a robot with a goal to achieve good kinematic, rigidity and dynamic performance within

a relatively large task workspace. Some potential applications will also be presented.

Short Biography

Tian Huang received his BE, ME and PhD from Tianjin University, China in 1981, 1984 and 1990 all

in Mechanical Engineering. He was appointed in 1985 by the same University where he has been a full

professor since 1992. He has been also appointed as formal part-time professor (0.25) with the

University of Warwick (UK) since 2000.

Dr. Huang’s research interests are kinematics, dynamics, metrology and control of industrial robots

and machine tools. He published over 80 technical papers in the international journals, co-authored

Chapter “Parallel Mechanisms” of Springer Handbook of Robotics (2nd Edition), and served as chairs or

co-chairs of a couple of international conferences, the 11th IFToMM World Congress, Parallel 2014,

Asian MMS 2014. Dr. Huang is a fellow of CIRP, a member of British Professor’s Council, the vice

president (acting) of IFToMM (2016-2019), and a subject editor of Mechanism and Machine Theory.




Kalle Neumann, CEO at Exechon Enterprises LLC, United Arab Emirates

Title: PKM, the natural choice for Electrical Vehicles

Abstract:

Biography: The inventor of the Tricept & Exechon PKM, in 1985, after long years of study, hard work and research; and out of a Swedish home garage, the first Parallel Kinematics Machine (PKM) patent based on three actuators mounted around a stabilizing centre tube was developed by the young German inventor Karl-Erik Neumann and 30 years later the new XMini was born.

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