scholarly journals Dynamic Model of a Compliant 3PRS Parallel Mechanism for Micromilling

2016 ◽  
pp. 153-164 ◽  
Author(s):  
A. Ruiz ◽  
F. J. Campa ◽  
C. Roldán-Paraponiaris ◽  
O. Altuzarra
Keyword(s):  
Dynamic Model ◽  
Parallel Mechanism

Inverse Kinematic Solution and Dynamic Model to 3PTT Parallel Mechanism

2014 ◽  
Vol 945-949 ◽  
pp. 1421-1425
Author(s):  
Xiu Qing Hao
Keyword(s):  
Dynamic Model ◽  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Euler Method ◽  
Research Subject ◽  
Adams Software ◽  
Inverse Kinematic Analysis ◽  
Simulation Results ◽  
Kinematic Solution

Take typical parallel mechanism 3PTT as research subject, its inverse kinematic analysis solution was gotten. Dynamic model of the mechanism was established by Newton-Euler method, and the force and torque equations were derived. Dynamic simulation of 3PTT parallel mechanism was done by using ADAMS software, and simulation results have verified the correctness of the theoretical conclusions.

Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot

2019 ◽  
Vol 27 (8) ◽  
pp. 1800-1810
Author(s):  
陈 原 CHEN Yuan ◽  
何淑垒 HE Shu-lei ◽  
姜 媛 JIANG Yuan ◽  
桑董辉 SANG Dong-hui ◽  
宁淑荣 NING Shu-rong
Keyword(s):  
Mobile Robot ◽  
Dynamic Model ◽  
Parallel Mechanism ◽  
Spherical Parallel Mechanism

Force-Position Hybrid Control of a New Parallel Hexapod Robot for Drilling Holes on Fuselage Surface

2013 ◽  
Author(s):  
Xianchao Zhao ◽  
Yang Pan ◽  
Feng Gao
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Parallel Mechanism ◽  
Control Method ◽  
Hybrid Control ◽  
Control Mode ◽  
Work Status ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Robot Performance

In this paper, a new kind of 6-legged robot for drilling holes on the aircraft surface is presented. Each leg of the robot is a parallel mechanism with 3 degree of freedoms thus the robot includes totally 18 motors. Due to different work status, the control modes of these motors are also different and thus the force-position hybrid control method is applied. The kinematic and dynamic model is briefly introduced. Then the robot gait is discussed. After that hybrid control method is introduced: first the control mode of each motor should be determined, then the position or force control curves should be calculated. In the end of this paper, both virtual and real prototype of this robot is showed and the experiment result showed that the hybrid control method can significantly improve the robot performance.

Dynamic Analysis and Control Research of a 3-DOF Hydraulic Driven Parallel Mechanism

2020 ◽  
Vol 13 (2) ◽  
pp. 156-170
Author(s):  
Bing Zhang ◽  
Saike Jiang ◽  
Ziliang Jiang ◽  
Jiandong Li ◽  
Kehong Zhou ◽  
...  
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Strategy ◽  
Parallel Mechanism ◽  
Control Method ◽  
Simulation Method ◽  
Euler Method ◽  
Parallel Mechanisms ◽  
Rigid Body Dynamic ◽  
And Control

Background: The parallel mechanism is widely used in motion simulators, parallel machine tools, medical equipment and other fields. It has advantages of high rigidity, stable structure and high carrying capacity. However, the control strategy and control method are difficult to study because of the complexity of the parallel mechanism system. Objective: The purpose of this paper was to verify the dynamic model of a hydraulic driven 3-DOF parallel mechanism and propose a compound control strategy to broaden the bandwidth of the control system. Methods: The single rigid body dynamic model of the parallel mechanism was established by the Newton Euler method. The feed forward control strategy based on joint space control with inverse kinematic was designed to improve the bandwidth and control precision. The co-simulation method based on MATLAB / SIMULINK and ADAMS was adopted to verify the dynamics and control strategy. Results: The bandwidth of each degree of freedom in the 3-DOF parallel mechanism was used to expand about 10Hz and the amplitude error was controlled below 5%. Conclusion: Based on the designed dynamic model and composite control strategy, the controlled accuracy of the parallel mechanism is improved and the bandwidth of the control system is broadened. Furthermore, the improvements can be made in aspects of control accuracy and real-time performance to compose more patents on parallel mechanisms.

scholarly journals Rigid-Flexible Modal Analysis of the Hydraulic 6-DOF Parallel Mechanism

Energies ◽  
2021 ◽  
Vol 14 (6) ◽  
pp. 1604
Author(s):  
Chenyang Zhang ◽  
Hongzhou Jiang
Keyword(s):  
Dynamic Model ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Natural Frequencies ◽  
Hydraulic Cylinder ◽  
Flexible Structure ◽  
Actual Performance ◽  
Experimental Platform ◽  
Response Characteristics ◽  
Dynamic Response Characteristics

In view of the problems encountered in previous hydraulic 6-DOF parallel mechanism projects, flexible modes appear that the actual natural frequencies of x and y degrees of freedom of the parallel mechanism are lower than those obtained through calculation. The phenomenon above not only decreases the dynamic response characteristics of the mechanism, but also leads to doubts about the actual performance of the mechanism. The real reason for the phenomenon above is solved in this paper. First the flexible structure of the hydraulic cylinder is analyzed and simplified, and then the dynamic model of the rigid-flexible 6-DOF parallel mechanism is established with the extended Hamilton’s principle. Finally the rigid-flexible modes are calculated with the dynamic model obtained, further analysis and verification with a simulation model and an experimental platform are also conducted. Results show that the phenomenon of the flexible modes is mainly caused by the O-rings of the step-seals of the guide sleeve and those with less elasticity should be adopted to keep the dynamic characteristics of the parallel mechanism.

scholarly journals A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model

2019 ◽  
Vol 234 (1) ◽  
pp. 185-197
Author(s):  
Lucian Milica ◽  
Alexandru Năstase ◽  
Gabriel Andrei
Keyword(s):  
Dynamic Model ◽  
Parallel Mechanism ◽  
Dynamic Models ◽  
Kinematic Chain ◽  
Inverse Dynamic ◽  
Original Algorithm ◽  
Absorbed Power ◽  
Dynamic Inverse ◽  
Driving Torque ◽  
Extended Dynamic

Dynamic models of several mechanical systems are used for the analysis of specific robotic mechanisms. Two different situations may be encountered. The first situation is when the robot’s command system, based on Lagrange’s differential equations, calculates the corrections of command parameters of the actuators at short intervals of time. This model includes both the characteristics of the mechanical structure and those of the actuators and transmission. A second situation is encountered during the motion planning, when a model is needed to calculate both engine parameters and inertial forces which are applied to the mechanical system during the operation. Consequently, in this study, a d’Alembert-Newton model is used for extended dynamic analysis of a new constructive solution of a parallel mechanism. The dynamic model of a HEXA parallel mechanism has been developed using the abovementioned theory, and further, the dynamic inverse solution has been obtained. The numerical results were obtained using an original algorithm. This dynamic model allows the estimation of power absorbed by each actuator and also the loading control for each kinematic chain of the HEXA parallel mechanism. Knowing the variation of driving torque, for all the six actuators of the mechanism, allows the user to choose an optimal trajectory, such as avoiding excessive loading of a single kinematic chain.

scholarly journals Analysis and control for a new reconfigurable parallel mechanism

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093132
Author(s):  
Guanyu Huang ◽  
Dan Zhang ◽  
Hongyan Tang ◽  
Lingyu Kong ◽  
Sumian Song
Keyword(s):  
Dynamic Model ◽  
Pid Controller ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Loop Equation ◽  
Lagrange Formulation ◽  
And Control

This article proposes a new reconfigurable parallel mechanism using a spatial overconstrained platform. This proposed mechanism can be used as a machine tool. The mobility is analyzed by Screw Theory. The inverse kinematic model is established by applying the closed-loop equation. Next, the dynamic model of the presented mechanism is established by Lagrange formulation. To control the presented mechanism, some controllers have been used. Based on this dynamic model, the fuzzy-proportion integration differentiation (PID) controller is designed to track the trajectory of the end effector. For each limb, a sliding mode controller is applied to track the position and velocity of the slider. Finally, some simulations using ADAMS and MATLAB are proposed to verify the effectiveness and stability of these controllers.

scholarly journals Rigid Dynamic Model and Analysis of 5-DOF Parallel Mechanism

10.5772/61040 ◽  
2015 ◽  
Vol 12 (7) ◽  
pp. 108 ◽  
Author(s):  
Xiulong Chen ◽  
Xiaoxia Liang ◽  
Yu Deng ◽  
Qing Wang
Keyword(s):  
Dynamic Model ◽  
Parallel Mechanism
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