Rigid vs. flexible links dynamic analysis of a 3DOF parallel robot

2009 ◽  
Author(s):  
Nadia Ramona Rat ◽  
Mircea Neagoe
Keyword(s):  
Dynamic Analysis ◽  
Parallel Robot ◽  
Flexible Links

Rigid versus Flexible Link Dynamic Analysis of a 3DOF Delta Type Parallel Manipulator

2015 ◽  
Vol 762 ◽  
pp. 101-106 ◽  
Author(s):  
Nadia Ramona Cretescu ◽  
Mircea Neagoe
Keyword(s):  
Dynamic Analysis ◽  
Numerical Simulations ◽  
Parallel Manipulator ◽  
Numerical Models ◽  
Parallel Robot ◽  
Flexible Link ◽  
Flexible Links ◽  
Delta Type ◽  
Adams Software

This paper presents a comparative kinematic and dynamic analysis of a Delta parallel robot based on numerical simulations of the rigid vs. flexible links robot models. The flexible links numerical models are derived using AutoFlex module of Adams software. Finally, the conclusions regarding the obtained results useful in manipulator constructive design are presented.

Non-smooth dynamical analysis and experimental validation of the cable-suspended parallel manipulator

2012 ◽  
Vol 226 (10) ◽  
pp. 2456-2466 ◽  
Author(s):  
Xing-Guo Shao ◽  
Zhen-Cai Zhu ◽  
Qing-Guo Wang ◽  
Peter CY Chen ◽  
Bin Zi ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Parallel Manipulator ◽  
Inequality Constraints ◽  
Parallel Robot ◽  
Differential Algebraic Equations ◽  
Dynamical Analysis ◽  
Algebraic Equations ◽  
Dynamics Model ◽  
Midpoint Method ◽  
Smooth Dynamics

The cable-suspended parallel manipulator replaces the rigid links of traditional parallel robot. The unilateral property of the cable complicates the dynamic analysis of such manipulator and further induces difficulty in control problem. The set-valued tension law is proposed to model the unilateral constraint of the cable, and the dynamics of cable-suspended parallel manipulator is analyzed in the framework of non-smooth dynamics. The resulting non-smooth dynamics model consists of a set of differential–algebraic equations with inequality constraints. Its solution is found by the Moreau midpoint method. An experimental setup was established to verify and validate the effectiveness and accuracy of non-smooth dynamics. And the simulation results generally agree with the experimental results, which demonstrate that the non-smooth dynamics is effective and reasonable for the dynamic analysis of the cable-suspended parallel manipulator. The results of this article deeply reveal the dynamics of the cable-suspended parallel manipulator, and may be used to design more accurate controller for its trajectory control.

The Application of Finite Element Methods to the Dynamic Analysis of Flexible Spatial and Co-Planar Linkage Systems

1981 ◽  
Vol 103 (3) ◽  
pp. 643-651 ◽  
Author(s):  
W. Sunada ◽  
S. Dubowsky
Keyword(s):  
Finite Element ◽  
Dynamic Analysis ◽  
High Speed ◽  
Robotic Manipulators ◽  
Component Mode Synthesis ◽  
System Of Equations ◽  
Flexible Links ◽  
Analysis Techniques ◽  
Spatial Mechanisms ◽  
Coordinate Reduction

An analytical method is presented for the dynamics of spatial mechanisms containing complex-shaped, flexible links with application to both high-speed industrial machines and robotic manipulators. Existing NASTRAN-type finite element structural analysis programs are combined with 4 × 4 matrix dynamic analysis techniques and Component Mode Synthesis coordinate reduction to yield a procedure capable of analyzing complex, non-linear spatial mechanisms with irregularly shaped links in great detail, yet producing a system of equations small enough for efficient numerical integration. The method is applied to two examples.

scholarly journals Lower Limb Rehabilitation Using Patient Data

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Alireza Rastegarpanah ◽  
Mozafar Saadat
Keyword(s):  
Dynamic Analysis ◽  
Lower Limb ◽  
Parallel Robot ◽  
Patient Data ◽  
Position Error ◽  
Males And Females ◽  
Limb Rehabilitation ◽  
High Repeatability ◽  
Lower Limb Rehabilitation ◽  
Foot Trajectory

The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm.

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