A decoupled 2-DOF flexure-based micropositioning stage with large travel ranges

Robotica ◽  
2013 ◽  
Vol 32 (5) ◽  
pp. 677-694 ◽  
Author(s):  
Xiantao Sun ◽  
Weihai Chen ◽  
Rui Zhou ◽  
Wenjie Chen ◽  
Jianbin Zhang
Keyword(s):  
Topological Structure ◽  
Natural Frequencies ◽  
Mechanical Performance ◽  
Theoretical Models ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Kinematic Chains ◽  
Element Simulation ◽  
Prismatic Joints ◽  
Coupling Error

SUMMARYIn this paper, a new flexure-based micropositioning stage (FMPS) is proposed to achieve decoupled XY translational motions and large travel ranges. The stage consists of four independent kinematic chains, each comprising two flexure-beam prismatic joints. The mechanism with such a special topological structure enables the motions of the platform strictly along XY axes and minimizes the parasitic rotation in theta axis. The kinematics and dynamics analysis of the mechanism are conducted to evaluate the performance of the mechanism in terms of travel range, parasitic motions, linearity, as well as natural frequency. According to the developed models, a parameter optimization of the mechanism is performed under the condition of the maximum travel range. The finite element simulation is carried out to examine the mechanical performance and the theoretical models. The experimental results show that the proposed FMPS possesses a workspace of 600 × 600 μm2, a relative coupling error of 0.6%, and the natural frequencies of 209.7 Hz and 212.4 Hz for the first two modes.

The Creative Design of Injector Clamping Mechanism

2011 ◽  
Vol 418-420 ◽  
pp. 2166-2169
Author(s):  
Wan Chun Zhou ◽  
Dong Min Liu
Keyword(s):  
Topological Structure ◽  
Kinematic Chain ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Connecting Rod ◽  
Design Constraints ◽  
Kinematic Chains ◽  
Structure Characteristics ◽  
Comprehensive Theory ◽  
Design Requirements

Abstract. Analysis of a certain topological structure characteristics of clamping mechanism of injection machine, according to general principles, converts it into only containing Deputy General of the connecting rod and rotating chain. Bodies comprehensive theory of numbers after distribution combined with rod classes are general Atlas of kinematic chain. After identifying design constraints, on the redistribute members and turn the pair, you can get all man foot design requirements of viable specific Atlas of kinematic chains. Then every possible specific kinematic chain materialized to the schematic diagram of mechanism. Designers are on this basis through the kinematics and dynamics analysis to determine the best new clamping mechanism of injection machine.

Coupling Degree of Mechanism and Its Application

2006 ◽  
Author(s):  
Jing Xiong ◽  
Ting-Li Yang ◽  
Xiangdong Yang ◽  
Dongchao Yang ◽  
Ken Chen
Keyword(s):  
Dynamic Analysis ◽  
Topological Structure ◽  
Parallel Mechanism ◽  
Kinematics And Dynamics ◽  
Parallel Mechanisms ◽  
Kinematic Chains ◽  
Unified Modeling

The kinematic and dynamic analysis of an spatial multi-loop mechanism especially parallel mechanism is significant but always complex. Based on the topological structure of mechanisms, this paper proposes the concept of coupling degree of mechanism systematically, and applies it to the criterion of basic kinematic chains(BKCs) and other problems. The relation between topology, kinematics and dynamics of parallel mechanisms is established, and then it is achieved to quantitatively describe the analysis complexity of a parallel mechanism and to obtain its simplest solving path, according to its topological structure. The preliminary method for unified modeling of the topology, kinematics and dynamics of parallel mechanisms is proposed, using BKC as the basic analysis unit. Some suggestions for optimization and selective preference of parallel mechanisms are also presented.

scholarly journals Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

2018 ◽  
Vol 8 (3) ◽  
pp. 464 ◽  
Author(s):  
Xin Wang ◽  
Qiuzhi Song ◽  
Xiaoguang Wang ◽  
Pengzhan Liu
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Upper Limb Exoskeleton

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.

Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot

Robotica ◽  
2019 ◽  
Vol 37 (11) ◽  
pp. 1971-1986
Author(s):  
Ruoyu Feng ◽  
Peng Zhang ◽  
Junfeng Li ◽  
Hexi Baoyin
Keyword(s):  
Power Consumption ◽  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Kinematic Model ◽  
Theoretical Models ◽  
Equation Of Motion ◽  
Kinematics And Dynamics ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis

SummaryIn this study, the kinematics and dynamics of a single actuator wave (SAW)-like robot are explored. Comprising a helical spine and links, SAW has the potential for miniaturization. A kinematic model for SAW is firstly established, and the dynamic equation of motion is derived based on Kane’s method. For validation, the motion of SAW is simulated using both MATLAB and ADAMS, and the comparison of results demonstrates the effectiveness of the theoretical models. Then the inverse dynamic analysis is performed to reveal the power consumption. Finally, robot prototypes are developed and tested to confirm the robot velocity predicted by simulations.

scholarly journals Assessment of Substrate and TBC Damage Effects on Resonance Frequencies for Blade Health Monitoring

2022 ◽  
Vol 12 (1) ◽  
pp. 1-19
Author(s):  
Jason van Dyke ◽  
Michel Nganbe
Keyword(s):  
Natural Frequencies ◽  
Hot Spot ◽  
Turbine Blades ◽  
Three Dimensional ◽  
Early Assessment ◽  
Element Simulation ◽  
Resonance Frequencies ◽  
Dimensional Finite Element ◽  
Three Dimensional Finite Element ◽  
Local Plastic Deformation

The reliability of critical aircraft components continues to shift towards onboard monitoring to optimize maintenance scheduling, economy efficiency and safety. Therefore, the present study investigates changes in dynamic behavior of turbine blades for the detection of defects, with focus on substrate cracks and TBC spallation as they relate to vibration modes 1 to 6. Two‐dimensional and three-dimensional finite element simulation is used. The results indicate that TBC spallation reduces natural frequencies due to the ensuing hot spot and overall increase in temperature, leading to drops in blade stiffness and strength. Cracks cause even larger frequency shifts due to local plastic deformation at the crack that changes the energy dissipation behavior. Mode 1 vibration shows the largest shifts in natural frequencies that best correlate to the size of defects and their position. As such, it may be most appropriate for the early assessment of the severity and location of defects.

Experimental Identification Approach of Dynamic Parameters of Precise Horizontal Machining Centre Based on Component-System

2011 ◽  
Vol 467-469 ◽  
pp. 1686-1690
Author(s):  
Zhi Feng Liu ◽  
Zhong Hua Chu ◽  
Qiang Cheng ◽  
Guang Bo Liu ◽  
Dong Sheng Xuan
Keyword(s):  
Finite Element ◽  
Modal Analysis ◽  
Natural Frequencies ◽  
Modal Testing ◽  
Element Calculation ◽  
Element Simulation ◽  
Modes Of Vibration ◽  
Identification Approach ◽  
Comparison Of The Results ◽  
Machine Structure

This paper integrates experiment modal analysis and the analytical modal analysis to study on the vibration phenomena occurring occasionally at the different components of a precise horizontal machining centre. The paper is focused on extracting the mode shape of the major components of the machine in order to ensure resonance phenomena as a cause of vibration. At first the main natural frequencies with the corresponding modes of vibration of the machine structure are obtained by the experiment modal analysis. Then the dynamic behavior of the machine components is simulated using a finite element simulation model. The comparison of the results based on finite element calculation with their experimental counterparts shows the reasonableness. The model is evaluated and corrected with experimental results by modal testing of the machine components.

The Kinematics Simulation and Analysis of the Multilayer Carbon Fiber Loom's Beating-Up Mechanism in ADAMS

2013 ◽  
Vol 846-847 ◽  
pp. 52-55
Author(s):  
Kai Yang ◽  
Jian Cheng Yang ◽  
Jian Feng Qin ◽  
Hua Qing Wang ◽  
Yu Bai ◽  
...  
Keyword(s):  
Carbon Fiber ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Linkage Mechanism ◽  
Solid Models ◽  
Kinematics Simulation ◽  
Weaving Technology ◽  
3D Solid

This article designs a new set of beating-up mechanism for the multilayer angle interlocking construction loom based on the requirements of special material of carbon fiber and weaving technology,and it can battening 30 layers carbon fiber at a beating-up.Through building the 3D solid models for linkage mechanism in SolidWorks, it show that the beating-up mechanism Run smoothly by the kinematics and dynamics analysis of different beating-up rule in ADAMS.

7-DOF Cable-Driven Humanoid Robotic Arm

2011 ◽  
Author(s):  
Jun Ding ◽  
Robert L. Williams
Keyword(s):  
Linear Programming ◽  
Robotic Arm ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Kinematics Analysis ◽  
End Effector ◽  
Motion Range ◽  
Potential Benefits ◽  
Redundant Mechanism ◽  
Joint Limits

The purpose of this paper is to study a 7-DOF humanoid cable-driven robotic arm, implement kinematics and dynamics analysis, present different cable-driven designs and evaluate their merits and drawbacks. Since this is a redundant mechanism, kinematics optimization is used to avoid joint limits, singularities and obstacles. Cable kinematics analysis studies the relationships between cable length and the end-effector pose. This is a design modified from the literature. Several new designs are compared in pseudostatics analysis of the arm and a favorable design is suggested in terms of motion range and the cable tensions. Linear programming is used to optimize cable tensions. Dynamics analysis shows that the energy consumption of a cable-driven arm is much less than that of traditional motor-driven arm. Cable-driven robots have potential benefits but also some limitations.

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