Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

2010 ◽  
Vol 17 (6) ◽  
pp. 1264-1270 ◽  
Author(s):  
Chi-fu Yang ◽  
Shu-tao Zheng ◽  
Jun Jin ◽  
Si-bin Zhu ◽  
Jun-wei Han
2012 ◽  
Vol 466-467 ◽  
pp. 849-853
Author(s):  
Zhao Yin Zhang

6-DOF parallel robot forward kinematics can be achieved by Newton-Raphson method with more accurancy, but the result depends on the offer of initial value. It can definitely calculate the result by genetic algorithm, however, more evolved algebra is needed to make it more accurate, and sometimes it hardly meets the requirement by concurrent control. This article points to use the result of genetic as the initial value of algorithm, and ultimately make use of iteration to complete the forward kinematics. High accuracy and speed are the main features of this calculation, and another one is interpreting from the implementation point of view, which is very practical and meet the concurrent control through experiment.


Author(s):  
Shenli Wu ◽  
Sun’an Wang ◽  
Xiaohu Li

The forward kinematics analysis is the foundation for studying other performances of the parallel manipulator, which has been not very effect method to directly obtain high-precision solutions. Highly coupled non-linear motions of the parallel manipulator make the forward kinematics difficult to be solved. The forward kinematics can be transformed into an equivalent optimization problem by the property that it is easy to obtain the inverse kinematics. This paper proposes a dynamic bacterial foraging optimization algorithm based on clonal selection, which is called CDBFO, to directly obtain the globally optimal solution of the forward kinematics. A step strategy of piecewise dynamic adjustment and clonal selection are introduced into original bacterial foraging optimization algorithm and a comparison of benchmark functions tests show that CDBFO has the best performance among the other two algorithms. On this basis, this paper adopts CDBFO to solve the forward kinematics compared with the other two algorithms and the results show that CDBFO can not only obtain high accuracy of the forward kinematics, but also avoid complicated numerical derivation and sensitive problem of initial values. Absolute errors of the position and orientation are respectively less than 10e−04mm and 10e−04°, which has met the application requirement of the parallel manipulator on engineering precision.


Author(s):  
Mingchao Geng ◽  
Tieshi Zhao ◽  
Chang Wang ◽  
Yuhang Chen ◽  
Erwei Li

The iterative search method (Newton-Raphson or Quasi-Newton) is an important numerical method for solving the forward kinematics problem of parallel mechanisms. But there may be a failure when the iterative search method solves the forward kinematics problems of a class of mechanisms, whose workspace is restricted. The extreme displacement singularity in the limbs is one reason for the workspace restriction. An equivalent method is proposed to remove the extremely displacement singularity in the limbs, and the forward kinematics solutions of two representative 6 degree of freedom mechanisms are given to illustrate the mechanism equivalence. For the coupled fewer degree of freedom mechanisms, the coupled motion is another reason for the workspace restriction. The virtual mechanism method and modified Jacobian matrix method are applied to solve the forward kinematics problems of this class of mechanisms. Numerical examples are given to validate the theories proposed above.


2010 ◽  
Vol 7 ◽  
pp. 182-190
Author(s):  
I.Sh. Nasibullayev ◽  
E.Sh. Nasibullaeva

In this paper the investigation of the axisymmetric flow of a liquid with a boundary perpendicular to the flow is considered. Analytical equations are derived for the radial and axial velocity and pressure components of fluid flow in a pipe of finite length with a movable right boundary, and boundary conditions on the moving boundary are also defined. A numerical solution of the problem on a finite-difference grid by the iterative Newton-Raphson method for various velocities of the boundary motion is obtained.


1983 ◽  
Vol 23 (05) ◽  
pp. 727-742 ◽  
Author(s):  
Larry C. Young ◽  
Robert E. Stephenson

A procedure for solving compositional model equations is described. The procedure is based on the Newton Raphson iteration method. The equations and unknowns in the algorithm are ordered in such a way that different fluid property correlations can be accommodated leadily. Three different correlations have been implemented with the method. These include simplified correlations as well as a Redlich-Kwong equation of state (EOS). The example problems considered area conventional waterflood problem,displacement of oil by CO, andthe displacement of a gas condensate by nitrogen. These examples illustrate the utility of the different fluid-property correlations. The computing times reported are at least as low as for other methods that are specialized for a narrower class of problems. Introduction Black-oil models are used to study conventional recovery techniques in reservoirs for which fluid properties can be expressed as a function of pressure and bubble-point pressure. Compositional models are used when either the pressure. Compositional models are used when either the in-place or injected fluid causes fluid properties to be dependent on composition also. Examples of problems generally requiring compositional models are primary production or injection processes (such as primary production or injection processes (such as nitrogen injection) into gas condensate and volatile oil reservoirs and (2) enhanced recovery from oil reservoirs by CO or enriched gas injection. With deeper drilling, the frequency of gas condensate and volatile oil reservoir discoveries is increasing. The drive to increase domestic oil production has increased the importance of enhanced recovery by gas injection. These two factors suggest an increased need for compositional reservoir modeling. Conventional reservoir modeling is also likely to remain important for some time. In the past, two separate simulators have been developed and maintained for studying these two classes of problems. This result was dictated by the fact that compositional models have generally required substantially greater computing time than black-oil models. This paper describes a compositional modeling approach paper describes a compositional modeling approach useful for simulating both black-oil and compositional problems. The approach is based on the use of explicit problems. The approach is based on the use of explicit flow coefficients. For compositional modeling, two basic methods of solution have been proposed. We call these methods "Newton-Raphson" and "non-Newton-Raphson" methods. These methods differ in the manner in which a pressure equation is formed. In the Newton-Raphson method the iterative technique specifies how the pressure equation is formed. In the non-Newton-Raphson method, the composition dependence of certain ten-ns is neglected to form the pressure equation. With the non-Newton-Raphson pressure equation. With the non-Newton-Raphson methods, three to eight iterations have been reported per time step. Our experience with the Newton-Raphson method indicates that one to three iterations per tune step normally is sufficient. In the present study a Newton-Raphson iteration sequence is used. The calculations are organized in a manner which is both efficient and for which different fluid property descriptions can be accommodated readily. Early compositional simulators were based on K-values that were expressed as a function of pressure and convergence pressure. A number of potential difficulties are inherent in this approach. More recently, cubic equations of state such as the Redlich-Kwong, or Peng-Robinson appear to be more popular for the correlation Peng-Robinson appear to be more popular for the correlation of fluid properties. SPEJ p. 727


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