Genliang Chen

I'm currently a visiting scholar at BDML. I'm from the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.

Research Interests

• Kinematic calibration of robotic systems
• Accuracy analysis of parallel manipulators
• MR-coampatible Master/slave manipulators

Publication

1. Wang, H., Kong, L.Y., Chen, G.L., and Zhao, Y. "Design of an Actuation Device With the Ca-pability of Automatically Distributing External Load Based on Stability Theorems," ASME Journal of Mechanical Design,, vol. 137(085001), August, 2015. DOI:10.1115/1.4030426
2. Chen, G.L., Wang, H., Lin, Z.Q., and Lai, X.M. "The Principal Decomposition of Spatial Stiffness Matrices." IEEE Transactions on Robotics, vol. 31, no. 1, pp. 191-207, Feb. 2015. DOI:10.1109/TRO.2015.2389415
3. Chen, G.L., Wang, H., and Lin, Z.Q. "Determination of the Identifiable Parameters in Robot Calibration Based on the POE Formula." IEEE Transactions on Robotics, vol. 30, no. 5, pp. 1066-1077, Oct. 2014. DOI:10.1109/TRO.2014.2319560
4. Chen, G.L., Wang, H., and Lin, Z.Q. "A Unified Approach to the Accuracy Analysis of Planar Parallel Manipulators both with Input Uncertainties and Joint Clearance." Mechanism and Machine Theory, vol. 64, pp. 1-17, June, 2013. DOI:10.1016/j.mechmachtheory.2013.01.005
5. Chen, G.L., Wang, H., and Lin, Z.Q. "Generalized Kinematic Mapping of Constrained Plane Motions and Its Application to the Accuracy Analysis of General Planar Parallel Robots," Mechanism and Machine Theory, vol. 50, pp. 29-47, April, 2012. DOI:10.1016/j.mechmachtheory.2011.12.003
6. Chen, G.L., Wang, H., and Lin, Z.Q. "Forward Dynamics of the 6-PUS Parallel Manipulator Based on the Force Coupling and Geometry Constraint of the Passive Joints," Journal of System Design and Dynamics, vol. 5, no. 3, pp. 416-428, 2011. DOI:10.1299/jsdd.5.416
7. Wang, H., Chen, G.L., Zhao, Y. and Lin, Z.Q. "Output Error Bound Prediction of Parallel Manipulators Based on the Level Set Method," Mechanism and Machine Theory, vol. 45, No. 8, pp. 1153-1170, April 2010. DOI:10.1016/j.mechmachtheory.2010.03.004
8. Chen, G.L., Wang, H., Zhao, K. and Lin, Z.Q. "Modular Calculation of the Jacobian Matrix and Its Application to the Performance Analysis of a Forging Robot," Advanced Robotics, vol. 23, no. 10, pp. 1261-1279, 2009. DOI:10.1163/156855309X462574
9. Chen, G.L., Wang, H., Lai, X.M., and Lin, Z.Q. "Forward Dynamics Analysis of Parallel Manipulators Based on the Newton-Euler Method with Generalized Coordinates," Journal of Mechanical Engineering, vol. 45, no. 7, pp. 41-48, July 2009. DOI:10.3901/JME.2009.07.041
10. Wang, H., Chen, G.L., Zhao, Y. "General Method for Forward Dynamics of Parallel Manipu-lators Based on Newton-Euler Formulation with Generalized Coordinates" Chapter in Parallel Robotics: Recent Advances in Research and Application, Editors: Jinsong Wang, Xinjun Liu, Nova Science Publisher, 2008. ISBN:978-1-61668-056-5

Project Activity

This will be the new profiles page of Genliang Chen, visiting researcher at BDML and working, at least initially, on the new master/slave parallel manipulator.

More about Genliang Chen:

Link to an external site: Force Dimension Omega 6, which has some similar kinematics to the master/slave manipulator.

Some useful links:

• https://en.wikipedia.org/wiki/Wiki -- what is a wiki?
• http://www.pmwiki.org/wiki/PmWiki/BasicEditing -- basic editing and formatting rules
• http://www.pmwiki.org/wiki/PmWiki/Images -- ways to do images, frames, tables, etc.