Design of a high speed parallel mechanism based on Virtual Force Redundancy concept

2009 ◽  
Author(s):  
Kiyoshi Nagai ◽  
Yuki Nishibu ◽  
Yuichiro Dake ◽  
Atsushi Yamanaka
Keyword(s):  
Parallel Mechanism ◽  
High Speed ◽  
Virtual Force

scholarly journals Development of a Four DOF High Speed Parallel Mechanism Based on Virtual Force Redundancy Concept

2010 ◽  
Vol 28 (6) ◽  
pp. 766-773 ◽  
Author(s):  
Kiyoshi Nagai ◽  
Yuichiro Dake ◽  
Yuki Nishibu ◽  
Atushi Yamanaka
Keyword(s):  
Parallel Mechanism ◽  
High Speed ◽  
Virtual Force

Inverse Dynamic Analysis and Linearisation of a High Speed Parallel Mechanism

2005 ◽  
Author(s):  
M. Necip Sahinkaya ◽  
Yanzhi Li
Keyword(s):  
Dynamic Analysis ◽  
Parallel Mechanism ◽  
High Speed ◽  
Inverse Dynamics ◽  
Motion Path ◽  
Model Parameters ◽  
Control Input ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
Dynamics Models

Inverse dynamic analysis of a three degree of freedom parallel mechanism driven by three electrical motors is carried out to study the effect of motion speed on the system dynamics and control input requirements. Availability of inverse dynamics models offer many advantages, but controllers based on real-time inverse dynamic simulations are not practical for many applications due to computational limitations. An off-line linearisation of system and error dynamics based on the inverse dynamic analysis is developed. It is shown that accurate linear models can be obtained even at high motion speeds eliminating the need to use computationally intensive inverse dynamics models. A point-to-point motion path for the mechanism platform is formulated by using a third order exponential function. It is shown that the linearised model parameters vary significantly at high motion speeds, hence it is necessary to use adaptive controllers for high performance.

scholarly journals Electrochemical Milling Using a Parallel Mechanism for High-speed Translation of Tool Electrodes

2021 ◽  
Vol 26 (0) ◽  
pp. 25
Author(s):  
Tomohiro Koyano ◽  
Takuto Honda ◽  
Akira Hosokawa ◽  
Tatsuaki Furumoto
Keyword(s):  
Parallel Mechanism ◽  
High Speed ◽  
Electrochemical Milling

The Influence of Payload Mass and Inertia Properties on a Piloted Flight Simulator Hexapod Dynamic Performance

2014 ◽  
Vol 1037 ◽  
pp. 61-65
Author(s):  
Chun Ping Pan ◽  
Ying Lu ◽  
Yi Jun Lin
Keyword(s):  
Parallel Mechanism ◽  
High Speed ◽  
Dynamic Performance ◽  
Flight Simulator ◽  
Dynamics Model ◽  
The Real ◽  
High Acceleration ◽  
Inertia Properties ◽  
Payload Mass

In order to improve the dynamic performance of a piloted flight simulator hexapod, a study was carried out to quantify the effects of payload mass and inertia properties on hexapod dynamic performance. Based on the Lagrange-Euler formulation, a dynamics model of hexapod parallel mechanism including the payload mass characteristics was built, and then analyzed with the real hexapod through experiments. According to a large amount of experiment datum, the influence of payload mass and inertia properties on a piloted flight simulator hexapod dynamic performance was obtained, and these results are significant for the high speed and high acceleration control of the hexapod mechanism.

Dynamic balancing of hexapods for high-speed applications

Robotica ◽  
1999 ◽  
Vol 17 (3) ◽  
pp. 335-342 ◽  
Author(s):  
F. Xi
Keyword(s):  
Parallel Mechanism ◽  
High Speed ◽  
Dominant Factor ◽  
Kinematic Structure ◽  
Dynamic Balancing ◽  
End Effector ◽  
Tool Holder

In this paper, a method is proposed for dynamic balancing of hexapods for high-speed applications. The kinematic structure of the hexapod is based on the parallel mechanism. For high-speed applications, hexapod dynamics is the dominant factor, and dynamic balancing becomes very important. The proposed method is aimed at minimizing the changes in the hexapod inertia over the workspace by utilizing the tool holder attached to the hexapod's end-effector as a counterweight.

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