Kinematics and dynamics modeling of the 6-3- $$\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{\text{P}}\text{US}$$ P − US -type Hexapod parallel mechanism

2018 ◽  
Vol 32 (10) ◽  
pp. 4555-4570 ◽  
Author(s):  
Jaqueline Bernal ◽  
Ricardo Campa ◽  
Israel Soto
Keyword(s):  
Parallel Mechanism ◽  
Kinematics And Dynamics ◽  
Dynamics Modeling

Study on Frequency Tuning of Parallel Mechanism for Reducing Vibration

2013 ◽  
Vol 275-277 ◽  
pp. 905-908
Author(s):  
Feng Yang ◽  
Jun Chuan Niu ◽  
Kun Peng Li ◽  
Yong Li
Keyword(s):  
Vibration Control ◽  
Parallel Mechanism ◽  
Natural Frequencies ◽  
Frequency Tuning ◽  
Vibration Reduction ◽  
Kinematics And Dynamics

To reduce the multi-dimensional vibration which exist in some vibrating machines or equipments such as running ambulances, a parallel mechanism with 3-translation DOFs was presented and introduced into the ambulance stretcher, then a three-translation vibration reduction platform was developed. The kinematics and dynamics equations of the presented vibration reduction platform were deduced. And then the workspace, tuning principles and dynamics characteristics were studied. The simulations show that the presented parallel mechanism or vibration reduction platform is valid for reducing vibration and the system has different natural frequencies in case that the upper platform of the mechanism works on some specific positions, so it can be used to achieve tunable vibration control.

Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator

2013 ◽  
pp. 249-265
Author(s):  
Hamoon Hadian ◽  
Yasser Amooshahi ◽  
Abbas Fattah
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Joint Space ◽  
Kinematics And Dynamics ◽  
Dynamics Modeling ◽  
Kinematic Constraint ◽  
Control Scheme ◽  
Minimum Number ◽  
Dynamical Properties ◽  
Computed Torque

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.

Inverse dynamics modeling of 3-RPS/3n-SPS parallel mechanism with redundant limbs

2019 ◽  
Vol 27 (4) ◽  
pp. 807-819
Author(s):  
赵裕明 ZHAO Yu-ming ◽  
金振林 JIN Zhen-lin
Keyword(s):  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Dynamics Modeling

scholarly journals Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism

2016 ◽  
Vol 13 (5) ◽  
pp. 172988141665797
Author(s):  
Sheng Lin ◽  
Shuilan Wang ◽  
Chun Wang ◽  
Lingxuan Zhang ◽  
Yun Zhai
Keyword(s):  
Parallel Mechanism ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis

scholarly journals Dynamics Modeling and Simulating Analysis of a Wire Driven Parallel Mechanism

2011 ◽  
Vol 15 ◽  
pp. 788-794 ◽  
Author(s):  
Aofei Tang ◽  
Yan Li ◽  
Hao Qu ◽  
Junbao Xiao
Keyword(s):  
Parallel Mechanism ◽  
Dynamics Modeling ◽  
Simulating Analysis

Kinematic Analysis of 4-UPU Parallel Mechanism Based on Influence Coefficient

2015 ◽  
Vol 741 ◽  
pp. 691-696 ◽  
Author(s):  
Guang Lan Xia ◽  
Xing Wei Hu ◽  
Bao Lin Yin ◽  
Feng Yu
Keyword(s):  
Numerical Analysis ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Coefficient Matrix ◽  
Degree Of Freedom ◽  
Kinematics And Dynamics ◽  
Influence Coefficient ◽  
Mechanism Analysis ◽  
Acceleration Coefficient ◽  
Mechanism Kinematic

Mechanism kinematic influence coefficient deeply reflects the essence of the kinematics and dynamics mechanism, analysis of the problems of many institutions can use the influence coefficient of clear and clearly expressed. In this paper, with less degree of freedom parallel mechanism as the research object, through the virtual mechanism method to derive one or two order influence coefficient matrix, based on the analysis of the mechanism and influence of speed and acceleration coefficient matrix. Finally, the precision of the method for solving the kinematics is proved by examples of numerical analysis.

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