Use of a six-degree-of-freedom simulation model as a diagnostic tool for interpreting field test data: Determination of open-loop stability and center-of-gravity variations

2005 ◽  
Author(s):  
D. Humphreys ◽  
K. Watkinson
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin

This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications.


Author(s):  
C. Gosselin

Abstract This paper presents an algorithm for the determination of the workspace of parallel manipulators. The method described here, which is based on geometrical properties of the workspace, leads to a simple graphical representation of the regions of the three-dimensional Cartesian space that are attainable by the manipulator with a given orientation of the platform. Moreover, the volume of the workspace can be easily computed by performing an integration on its boundary, which is obtained from the algorithm. Examples are included to illustrate the application of the method to a six-degree-of-freedom fully-parallel manipulator.


1968 ◽  
Vol 90 (4) ◽  
pp. 708-715
Author(s):  
W. B. Diboll ◽  
H. S. Bieniecki

An analytical study of the effect of changing the design parameters of a two mass, six-degree-of-freedom suspension system was made. Rail cars with coil and air springs were analyzed by analog and digital computer. Spring stiffness, spring spacing, damping rates, height of center of gravity, and total mass were varied. The effect on frequency and response were determined.


2021 ◽  
Author(s):  
Xiaoyue Guan ◽  
Gary Li ◽  
Hanming Wang ◽  
Shubo Shang ◽  
Timothy Tokar ◽  
...  

Abstract Radio frequency (RF) heating is recognized as a technique having the potential to thermally enhance remediation of hydrocarbon-impacted soil. RF heating delivers electromagnetic (EM) power to a targeted body of soil, resulting in an increased soil temperature that enhances the in-situ remediation processes such as biodegradation. Antennas are placed either on the ground or installed in the soil near the ground surface. The antennas operate in the hundreds of kHz to MHz range. To model the RF heating process, we successfully coupled a reservoir simulator with a 3-dimensional (3D) EM solver to evaluate the ability of RF technology to heat soil in situ. The coupled reservoir/EM simulator solves the EM fields and associated heating for a heterogeneous reservoir or soil volume in the presence of multiple antennas. The coupling was accomplished through a flexible interface in the reservoir simulator that allows the runtime loading of third-party software libraries with additional physics. This coupled workflow had been previously used for studying RF heating for heavy oil recovery (Li 2019). An RF heating simulation case study was performed in support of a soil remediation field test designed to demonstrate the ability to heat soils using EM energy. The study included field test data analysis, simulation model building, and history matching the model to test data. Results indicate, on average, the soil was heated ∼2-3°C above the initial formation temperature after approximately two days (52 hours) of RF heating. We found that the RF heating was local, and our simulation model, after tuning input parameters, was able to predict a temperature profile consistent with the field test observations. With properly designed RF heating field pilots and tuning of EM and reservoir parameters in simulation models, the coupled reservoir/EM simulator is a powerful tool for the calibration, evaluation, and optimization of RF heating operations.


2021 ◽  
pp. 1-13
Author(s):  
Louis-Thomas Schreiber ◽  
Clement Gosselin

Abstract This paper introduces a classification of the inverse kinematics solutions (or robot postures) of six-degree-of-freedom serial robots with a geometry based on or similar to Universal Robots' arms. The solution of the inverse kinematics problem is first presented briefly and the equations required to classify the robot postures(branches) based on the joint coordinates are then introduced.


2011 ◽  
Vol 54 (2) ◽  
pp. 103-115
Author(s):  
Michael Hale

Multiple degree of freedom (MDOF) excitation systems and MDOF vibration control systems continue to improve, and are now standard equipment in many dynamic test laboratories. This paper concentrates on the often overlooked process of determination of an input specification for such MDOF systems. A pair of generalized six-degree-of-freedom (6-DOF) vibration specification development (VSD) techniques are proposed, discussed, and illustrated through an example.


1990 ◽  
Vol 112 (3) ◽  
pp. 331-336 ◽  
Author(s):  
C. Gosselin

This paper presents an algorithm for the determination of the workspace of parallel manipulators. The method described here, which is based on geometrical properties of the workspace, leads to a simple graphical representation of the regions of the three-dimensional Cartesian space that are attainable by the manipulator with a given orientation of the platform. Moreover, the volume of the workspace can be easily computed by performing an integration in its boundary, which is obtained from the algorithm. Examples are included to illustrate the application of the method to a six-degree-of-freedom fully parallel manipulator.


Sign in / Sign up

Export Citation Format

Share Document