Research and Design of a Pre-Stressed Six-Component Force/Torque Sensor Based on the Stewart Platform

2005 ◽  
Author(s):  
Yong-Sheng Zhao ◽  
Yu-Lei Hou ◽  
Zhi-Wei Yan ◽  
Hui-Ling Yuan ◽  
Jin Gao
Keyword(s):  
Mathematical Model ◽  
Screw Theory ◽  
Parallel Architecture ◽  
Stewart Platform ◽  
Influence Coefficient ◽  
Torque Sensor ◽  
Static Calibration ◽  
The Mathematical Model ◽  
Research And Design ◽  
Component Force

This paper presents the research and design of a novel parallel architecture of pre-stressed six-component force/torque sensor based on the Stewart platform. The mathematical model of the structure was build by using the screw theory. The influence of joint frictional moment on the performances of the sensor is analyzed by using the concept of kinematic influence coefficient. In this paper, we define the indices of force/torque isotropy and generalized amplifying index to evaluate the performances of the sensor and discuss the optimal design of the sensor dimensions considering these indices. The prototype sensor was designed and manufactured. The theoretical and experimental study of the static calibration of the prototype is carried out, and the problem of the hyperstatic is solved perfectly. The results from the static calibration experimentation validate the correctness of the theoretical analysis.

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

Research and Design of Mechanical System Virtual Prototyping

2011 ◽  
Vol 52-54 ◽  
pp. 624-629 ◽  
Author(s):  
Chang Qing Ma ◽  
Xian Xi Liu ◽  
Bao Qing Dai
Keyword(s):  
Mathematical Model ◽  
Mechanical System ◽  
Data Exchange ◽  
Multibody System ◽  
Virtual Prototyping ◽  
Object Oriented ◽  
Key Points ◽  
The Mathematical Model ◽  
Research And Design ◽  
Model Topology

The effectiveness and actualities of mechanical system virtual prototyping software were summarized. The process from prototype to utility, commercialization and industrialization were analyzed in software engineering. The basic concept of practical improvement for a mechanical system virtual prototyping software was presented. The key points of the mathematical model, topology structure, constraint type, kinematic and dynamic simulation and data exchange were discussed by the theory of multibody system dynamics and the technique of object-oriented.

Research and Design of Pneumatic AMT Actuator

2011 ◽  
Vol 52-54 ◽  
pp. 318-323
Author(s):  
Jian Zhong Wang ◽  
Liang Chu ◽  
Xin Tian Lu
Keyword(s):  
Mathematical Model ◽  
Dynamic Model ◽  
Theoretical Basis ◽  
Structure Characteristics ◽  
Design Scheme ◽  
Heavy Truck ◽  
The Mathematical Model ◽  
Research And Design

According to the design requests of certain heavy truck, this paper introduces a design scheme of pneumatic AMT automatic shift system, which focuses on the structure characteristics and working principles of the three-position cylinder controlled by two solenoid valves. And the mathematical model of the three-position cylinder controlled by two solenoid valves is established based on pneumatic principle. The dynamic model of this mechanism was built by AMEsim software. The variety of pressure and stroke of intake/exhaust chamber was simulated under different air pressures. The theoretical basis is provided to design the AMT election-shift actuator.

Analysis of Mechanical Error’s Effect on the Measurement Accuracy of the Six-Axis Force Sensor

2014 ◽  
Vol 627 ◽  
pp. 177-181
Author(s):  
Ru Nan Liang
Keyword(s):  
Mathematical Model ◽  
Monte Carlo ◽  
Theoretical Basis ◽  
Measurement Accuracy ◽  
Force Sensor ◽  
Stewart Platform ◽  
System Structure ◽  
The Monte Carlo Method ◽  
Six Degree Of Freedom ◽  
The Mathematical Model

Force sensor based on the six degree of freedom (6-DoF) Stewart platform is universal for wide applications. Mechanism errors are significant for its measuring accuracy. However, because of the multi-variables and the complicated forms, it is difficult to solve the expression directly. The Monte Carlo method is proposed based on the analysis of the system structure and the mathematical model. The effect of mechanism errors on the measurement accuracy was assessed. With this method, a complex accuracy expression of the sensor could be avoided. It also provided a theoretical basis for designing the sensor of the Stewart platform.

A mathematical model for a pneumatically actuated robotic fibre placement system

Robotica ◽  
2002 ◽  
Vol 20 (5) ◽  
pp. 545-551 ◽  
Author(s):  
Gürsel Alici ◽  
Bijan Shirinzadeh ◽  
Andrew McConville ◽  
Chee W. Foong ◽  
Marcelo Ang
Keyword(s):  
Mathematical Model ◽  
Dynamic Behaviour ◽  
Force Sensor ◽  
Lumped Parameter Model ◽  
Pneumatic Actuator ◽  
Step Response ◽  
Torque Sensor ◽  
Lumped Parameter ◽  
The Mathematical Model ◽  
Piston Position

SummaryIn this paper, a lumped parameter model of a robotic fibre placement system consisting of a Motoman SK-120 robot, a force/torque sensor, a pneumatic actuator and a stiff workpiece holder is developed and experimentally verified for the purpose of predicting and characterising the dynamic behaviour of the fibre placement system. Special attention has been given to the dynamics of the actuator which is represented as a mass confined to move between two non-linear springs and dampers. The overall model containing manipulator, force sensor, pneumatic actuator and the workpiece holder dynamics is of the tenth order. Step response experiments were conducted to verify the model and to determine the approximate values of the parameters in the mathematical model. The results prove that the established model is accurate enough to explain the dynamic behaviour of the fibre placement system and it can be employed to quantify the influence of the dynamics of the pneumatic actuator on the constant force-based fibre placement. The well-known fact that the dynamics of the pneumatic actuator varies with the piston position has also been experimentally demonstrated.

Research and Design of Large Equipment Electromagnetic Compatibility System

2015 ◽  
Vol 741 ◽  
pp. 739-743 ◽  
Author(s):  
Ji Ling Tang ◽  
Nian Feng Li ◽  
Hong Liang Liu
Keyword(s):  
Mathematical Model ◽  
Electromagnetic Compatibility ◽  
Experimental Results ◽  
Reliable Operation ◽  
Work Mechanism ◽  
Interference Signals ◽  
The Mathematical Model ◽  
Research And Design

Through the study of vehicle work mechanism of the large electronics devices，In view of the interference between vehicles and between different equipment of the same car ，the mathematical model of EMC system of the transmitters and receivers are established the.and applied to on-board equipment. The experimental results show that the system can effectively restrain interference signals of on-board equipment，ensuring the reliable operation of vehicle equipment.

The Application of Stewart Platform in Spacesuit Upper Torso Active Fit Design

2015 ◽  
Vol 798 ◽  
pp. 571-575
Author(s):  
Yuan Feng Li ◽  
Wan Xin Zhang
Keyword(s):  
Mathematical Model ◽  
Experimental Model ◽  
Parallel Manipulator ◽  
Design Method ◽  
Stewart Platform ◽  
Positioning Accuracy ◽  
The Future ◽  
The Mathematical Model

Stewart platform is a typical parallel manipulator, which is equipped with rigidity, high positioning accuracy and other advantages. To achieve wonderful fit of the spacesuit upper torso, the Stewart platform is applied in the upper torso fit design, by which the upper torso active fit design method is proposed. The mathematical model and the experimental model are established to study the validly of the fit design method. The results verify that the application of Stewart platform in the fit design of spacesuit upper torso is feasible. The research in this paper provides useful guide for the fit design of the spacesuit in the future

scholarly journals Influence of Technical Condition of Control and Measurement Equipment on Calibration Results

2021 ◽  
Vol 3 (1) ◽  
pp. 79-88
Author(s):  
Małgorzata Kawalec ◽  
Czerwińska Karolina ◽  
Andrzej Pacana
Keyword(s):  
Mathematical Model ◽  
Numerical Simulations ◽  
Technical Condition ◽  
Measured Quantity ◽  
Measurement Equipment ◽  
Measuring Instrument ◽  
Static Calibration ◽  
Measurement Results ◽  
Non Linear ◽  
The Mathematical Model

Abstract In the paper there are analyzed the procedures used in the process of calibrating concerning control and measurement equipment. There was assumed the mathematical model of the measuring instrument which was then analyzed. The factors that result from the imperfect technical condition of the control and measurement equipment and may have an impact on the measurement results were also analyzed. Models of errors’ models were assumed that may affect the calibration results. The static calibration of control and measurement equipment was analyzed. The results of numerical simulations concerning the static calibration of control and measurement equipment were presented, taking into account the linear and non-linear processing functions of the measurement equipment. The results of computations obtained for various models of processing functions were compared with each other and conclusions were drawn regarding the accuracy of the mapping of the measured quantity.

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