Dynamics analysis and simulation of parallel robot Stewart platform

2010 ◽  
Author(s):  
Hamidreza Hajimirzaalian ◽  
Hasan Moosavi ◽  
Mehdi Massah
Keyword(s):  
Parallel Robot ◽  
Stewart Platform ◽  
Dynamics Analysis

Dynamics Design of a Planar Controllable Five Bar Mechanism Based on Genetic Algorithm

2007 ◽  
Author(s):  
Ke Zhang
Keyword(s):  
Genetic Algorithm ◽  
Optimization Design ◽  
Optimization Method ◽  
Parallel Robot ◽  
Bond Graph ◽  
Dynamics Analysis ◽  
Hybrid Mechanism ◽  
Ga Algorithm ◽  
Power Bond Graph ◽  
Bond Graph Theory

A hybrid five bar mechanism is a typical planar parallel robot. It is a configuration that combines the motions of two characteristically different motors by means of a five bar mechanism to produce programmable output. Hybrid five bar mechanism is the most representative one of hybrid mechanism. In this paper, considering the bond graph can provide a compact and versatile representation for kinematics and dynamics of hybrid mechanism, the dynamics analysis for a hybrid five-bar mechanism based on power bond graph theory is introduced. Then an optimization design of hybrid mechanism is performed with reference to dynamic objective function. By the use of the properties of global search of genetic algorithm (GA), an improved GA algorithm is proposed based on real-code. Optimum dimensions are obtained assuming there are no dimensional tolerances or clearances. Finally, a numerical example is carried out, and the simulation result shows that the optimization method is feasible and satisfactory in the design of hybrid mechanism.

scholarly journals Dynamics Analysis of a Novel 3-PSS Parallel Robot Based on Linear Motor

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 119048-119061
Author(s):  
Zefeng Xu ◽  
Liqi Yang ◽  
Wenkai Huang ◽  
Lingkai Hu
Keyword(s):  
Parallel Robot ◽  
Linear Motor ◽  
Dynamics Analysis

Dynamic Modeling of Overconstrained Parallel Robot

2013 ◽  
Vol 373-375 ◽  
pp. 34-37
Author(s):  
Jian Xin Yang ◽  
Zhen Tao Liu ◽  
Jian Wei Sun
Keyword(s):  
Dynamic Modeling ◽  
Virtual Work ◽  
Parallel Robot ◽  
Tree Structure ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Forward Dynamics ◽  
Principle Of Virtual Work ◽  
Closed Form Solutions ◽  
Dynamics Models

The dynamic modeling method for parallel robot based on the principle of virtual work and equivalent tree structure is proposed by taking off the platform and the chains as well as degenerating parallel robot into a tree structure, the closed-form solutions for the inverse and forward dynamics models of parallel robot are derived. The method is applied on kinematics and dynamics analysis of a representative 3-RRR spherical parallel robot.

Computer-aided-symbolic dynamic modeling for Stewart-platform manipulator

Robotica ◽  
2009 ◽  
Vol 27 (3) ◽  
pp. 331-341 ◽  
Author(s):  
J. Lin ◽  
C.-W. Chen
Keyword(s):  
Robot Manipulator ◽  
Weight Ratio ◽  
Parallel Robot ◽  
Stewart Platform ◽  
Torque Control ◽  
Dynamic Equations ◽  
Robot Arm ◽  
Serial Link ◽  
Axis Parallel ◽  
Control Methodology

SUMMARYThe Stewart platform manipulator is a fully kinematic linkage system that has major mechanical differences from typical serial link robots. It is a six-axis parallel robot manipulator with a high force-to-weight ratio and good positioning accuracy that exceeds that of a conventional serial link robot arm. This study examines the dynamic equations and control methodology for a Stewart platform. Because manual symbolic expansion of Stewart platform robot dynamic equations is tedious, time-consuming, and prone to errors, an automated derivation process is highly desired. The main goal of this work is to present an efficient procedure for computer generation of dynamic equations for a Stewart platform manipulator. As MATLAB has a powerful signal processing toolbox along with symbolic processing capabilities and is widely used as a common technical computing environment in many universities and research laboratories, the objective of this study was to develop a MATLAB-based approach for symbolic computation for a parallel linked robot. Additionally, a computed-torque control methodology is utilized for such a structure. Simulation results demonstrate the effectiveness of the proposed control methodology.

Dynamics analysis of the Gough-Stewart platform manipulator

2000 ◽  
Vol 16 (1) ◽  
pp. 94-98 ◽  
Author(s):  
Min-Jie Liu ◽  
Cong-Xin Li ◽  
Chong-Ni Li
Keyword(s):  
Stewart Platform ◽  
Dynamics Analysis

Maximal Singularity-Free Total Orientation Workspace of the Gough–Stewart Platform

2009 ◽  
Vol 1 (3) ◽  
Author(s):  
Qimi Jiang ◽  
Clément M. Gosselin
Keyword(s):  
Parallel Robot ◽  
Stewart Platform ◽  
Parallel Robots ◽  
Maximal Singularity ◽  
Orientation Workspace

The maximal singularity-free total orientation workspace is highly desirable in a context of design of parallel robots. In practice, this type of workspace is interesting because a parallel robot often works in a given range of orientations. In this work, an algorithm is presented to compute the maximal singularity-free total orientation workspace of the Gough–Stewart platform. In order to demonstrate the presented algorithm, an example is provided.

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