A modified similitude analysis method for the electro-mechanical performances of a parallel manipulator to solve the control period mismatch problem

2021 ◽  
Author(s):  
Jun Wu ◽  
YuYao Song ◽  
ZiLin Liu ◽  
GuoFa Li
Keyword(s):  
Parallel Manipulator ◽  
Control Period ◽  
Analysis Method ◽  
Mismatch Problem ◽  
Mechanical Performances

Motion Reliability Analysis of a 3-RRR Parallel Manipulator With Random and Interval Variables

2016 ◽  
Author(s):  
Zhenhui Zhan ◽  
Xianmin Zhang
Keyword(s):  
Reliability Analysis ◽  
Parallel Manipulator ◽  
Random Variable ◽  
Parallel Manipulators ◽  
Analysis Method ◽  
Motion Error ◽  
Interval Variables ◽  
First Order Second Moment ◽  
Joint Clearances ◽  
Mcs Method

A general methodology for motion error and motion reliability analysis of planar parallel manipulators (PPMs) with random and interval variables is presented. The inherent uncertainties of the manipulator, including tolerances in manufactures, errors in inputs as well as joint clearances are taken into account. The error model of a 3-RRR parallel manipulator is built and the global sensitivity coefficients of motion errors to variations are defined and obtained. The joint clearances are treated as interval variables while the others are treated as random variables. As a result, the motion error of the manipulator could turn out to be the mixture of a random variable and an interval variable. A new motion reliability analysis method based on the First Order Second Moment (FOSM) method and the Monte Carlo simulation (MCS) method is developed for the manipulator with random and interval variables. This paper provides a new idea to better understand the motion reliability affected by the inherent uncertainties of PPMs.

Jacobian-based stiffness analysis method for parallel manipulators with non-redundant legs

2015 ◽  
Vol 230 (3) ◽  
pp. 341-352 ◽  
Author(s):  
Antonius GL Hoevenaars ◽  
Patrice Lambert ◽  
Just L Herder
Keyword(s):  
Parallel Manipulator ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Structural Elements ◽  
Analysis Method ◽  
End Effector ◽  
Stiffness Analysis ◽  
Compliant Joints ◽  
Lower Mobility ◽  
Actuated Joints

Stiffness is an important element in the model of a parallel manipulator. A complete stiffness analysis includes the contributions of joints as well as structural elements. Parallel manipulators potentially include both actuated joints, passive compliant joints, and zero stiffness joints, while a leg may impose constraints on the end-effector in the case of lower mobility parallel manipulators. Additionally, parallel manipulators are often designed to interact with an environment, which means that an external wrench may be applied to the end-effector. This paper presents a Jacobian-based stiffness analysis method, based on screw theory, that effectively considers all above aspects and which also applies to parallel manipulators with non-redundant legs.

Experimental Validation of Jacobian-Based Stiffness Analysis Method for Parallel Manipulators With Nonredundant Legs

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Antonius G. L. Hoevenaars ◽  
Clément Gosselin ◽  
Patrice Lambert ◽  
Just L. Herder
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Parallel Manipulators ◽  
Parallel Mechanisms ◽  
Analysis Method ◽  
Stiffness Analysis ◽  
Levels Of Detail ◽  
Structural Compliance

A complete stiffness analysis of a parallel manipulator considers the structural compliance of all elements, both in designed degrees-of-freedom (DoFs) and constrained DoFs, and also includes the effect of preloading. This paper presents the experimental validation of a Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs, which considers all those aspects, and which can be applied to limited-DoF parallel manipulators. The experimental validation was performed by comparing differential wrench measurements with predictions based on stiffness analyses with increasing levels of detail. For this purpose, two passive parallel mechanisms were designed, namely, a planar 3DoF mechanism and a spatial 1DoF mechanism. For these mechanisms, it was shown that a stiffness analysis becomes more accurate if preloading and structural compliance are considered.

Impact of analysis method on anthocyanin content of elderberry products

Planta Medica ◽  
2007 ◽  
Vol 73 (09) ◽  
Author(s):  
C Chrubasik ◽  
T Maier ◽  
M Luond ◽  
A Schieber
Keyword(s):  
Anthocyanin Content ◽  
Analysis Method

An Analysis Method of Rollover Stability for Heavy Trucks

CICTP 2020 ◽  
2020 ◽  
Author(s):  
Hao Zhang ◽  
Yue Li ◽  
Cheng-Qiang Zong ◽  
Chuan-Jin Ou ◽  
Bing-Tao Li
Keyword(s):  
Analysis Method ◽  
Heavy Trucks ◽  
Rollover Stability

Pengaruh Faktor Demografi Dan Iklim Organisasi Terhadap Niat Whistleblowing Internal

2017 ◽  
Vol 4 (1) ◽  
pp. 12-22
Author(s):  
Priyastiwi Priyastiwi
Keyword(s):  
Data Analysis ◽  
Data Collection ◽  
Organizational Climate ◽  
Demographic Factors ◽  
Financial Statement ◽  
Research Use ◽  
Analysis Method ◽  
Financial Statement Fraud ◽  
Internal Whistleblowing ◽  
Collection Methods

This study aimed to examine the effect of demographic factors and organizational climate on the intention of internal whistleblowing. The sample was an accountant who had worked as an auditor. Data collection methods using questionnaires with financial statement fraud case scenarios. This research use ANOVA data analysis method to examine demographic factors include age, gender, and experience, as well as organizational climate on the intention of internal whistleblowing. The results showed only the experience of demographic factors that influence internal whistleblowing. Besides internal whistlelowing also influenced by organizational climate in the company.Keyword: Demographics, Organizational Climate, Whistleblowing

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