scholarly journals Static and Dynamic Analysis of the PAMINSA (Parallel Manipulator of the I.N.S.A.)

2005 ◽  
Author(s):  
Vigen Arakelian ◽  
Sylvain Gue´gan ◽  
Se´bastien Briot
Keyword(s):  
Dynamic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Static Model ◽  
Lagrange Equations ◽  
Static Loads ◽  
Static And Dynamic Analysis ◽  
Adams Software ◽  
4 Degrees Of Freedom ◽  
Analytical Dynamic

In this paper we present an analytical approach for the static and dynamic analysis of the PAMINSA, a new 4 degrees of freedom parallel manipulator that has been designed at the I.N.S.A. in Rennes. On the base of the developed static model, the input torques due to the static loads are reduced by means of the optimum redistribution of the moving link masses. The analytical dynamic modeling of the PAMINSA by means of Lagrange equations is achieved. A numerical example and a comparison between the suggested analytical model and an ADAMS software simulation are presented.

Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator

2014 ◽  
pp. 545-553 ◽  
Author(s):  
Samah Shayya ◽  
Sébastien Krut ◽  
Olivier Company ◽  
Cédric Baradat ◽  
François Pierrot
Keyword(s):  
Dynamic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
4 Degrees Of Freedom

Orientation Workspace Analysis of a Novel 3SPS+1PS Symmetrical Parallel Manipulator Based on Unit Quaternion

2011 ◽  
Vol 201-203 ◽  
pp. 1849-1853
Author(s):  
Jing Li Yu ◽  
Gang Cheng ◽  
Shuai Zhang ◽  
De Kun Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Unit Quaternion ◽  
Structure Characteristics ◽  
Workspace Analysis ◽  
Moving Platform ◽  
Position And Orientation ◽  
4 Degrees Of Freedom ◽  
Orientation Workspace

For a novel 3SPS+1PS parallel manipulator with 4 degrees of freedom including three rotations and one translation, the formulae for solving the inverse kinematics equations are derived based on quaternion method. Unit quaternion is used to represent the position and orientation of moving platform, and the singularities caused by Euler angles are avoided. Combining the topological structure characteristics of the parallel manipulator, it only has three rotations when its moving platform is at a given translation position. Based on the inverse position/pose equations and the all the constraints of the parallel manipulator, the discrete algorithm for the orientation workspaces of 3SPS+1PS parallel manipulator where the moving platform is at some different given translation positions are designed. The research builds the theoretical basis for optimizing the orientation workspace with given position.

A Parallelogram-Based Parallel Manipulator for Schönflies Motion

2006 ◽  
Vol 129 (12) ◽  
pp. 1243-1250 ◽  
Author(s):  
Oscar Salgado ◽  
Oscar Altuzarra ◽  
Enrique Amezua ◽  
Alfonso Hernández
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Singularity Analysis ◽  
End Effector ◽  
Fixed Direction ◽  
Axis Parallel ◽  
Schönflies Motion ◽  
4 Degrees Of Freedom

A parallelogram-based 4 degrees-of-freedom parallel manipulator is presented in this paper. The manipulator can generate the so-called Schönflies motion that allows the end effector to translate in all directions and rotate around an axis parallel to a fixed direction. The theory of group of displacements is applied in the synthesis of this manipulator, which employs parallelograms in every limb. The planar parallelogram kinematic chain provides a high rotational capability and an improved stiffness to the manipulator. This paper shows the kinematic analysis of the manipulator, including the closed-form resolution of the forward and inverse position problems, the velocity, and the singularity analysis. Finally, a prototype of the manipulator, adding some considerations about its singularity-free design, and some technical applications in which the manipulator can be used are presented.

scholarly journals Open and closed shear-walls in high-rise structural systems: Static and dynamic analysis

2016 ◽  
Vol 3 (1) ◽  
Author(s):  
Alberto Carpinteri ◽  
Giuseppe Lacidogna ◽  
Giuseppe Nitti
Keyword(s):  
Dynamic Analysis ◽  
Degrees Of Freedom ◽  
Natural Frequencies ◽  
Torsional Rigidity ◽  
Shear Walls ◽  
Mode Shapes ◽  
Structural Systems ◽  
Preliminary Design ◽  
Static And Dynamic Analysis ◽  
High Rise

AbstractIn the present paper, a General Algorithm is applied to the analysis of high-rise structures. This algorithm is to be used as a calculation tool in preliminary design; it allows to define the interaction between closed and open, straight or curved shear-walls, and the forces exchanged in structures subject to mainly horizontal loads. The analysis can be performed in both static and dynamic regimes, the mode shapes and the natural frequencies being assessed. This general formulation allows analyses of high-rise structures by taking into account the torsional rigidity and the warping deformations of the elements composing the building without gross simplifications. In thisway it is possible to model the structure as a single equivalent cantilever, thus minimising the degrees of freedom of the system, and consequently the calculation time. Finally, potentials of the method proposed are demonstrated by a numerical example which emphasizes the link between global displacements and stresses in the elements composing the structure.

Static and Dynamic Analysis Methods of Position-Keeping Capability for Offshore Supply Vessels With Voith-Schneider Propellers

2017 ◽  
Author(s):  
Ole Detlefsen ◽  
Lasse Theilen ◽  
Moustafa Abdel-Maksoud
Keyword(s):  
Dynamic Analysis ◽  
Static Analysis ◽  
Time Domain ◽  
Degrees Of Freedom ◽  
Dynamic Assessment ◽  
Analysis Method ◽  
Environmental Loads ◽  
Static And Dynamic Analysis ◽  
First Results ◽  
Validation Tests

This paper presents a static and a time-domain method to assess the position-keeping capability of monohull vessels. For the static analysis method, the equlibrium between mean environmental loads and available actuator forces is determined. In case of the dynamic assessment, the motions of the fully actuated ship in all degrees of freedom are simulated in time domain and evaluated by criteria regarding the position and heading of the ship. After first results from validation tests an exemplary application is shown by assessing the positioning capability of a Voith-Schneider propelled offshore supply vessel.

KINEMATIC MODELLING AND ANALYSIS OF A WIRE-ACTUATED PARALLEL MANIPULATOR

2007 ◽  
Vol 31 (4) ◽  
pp. 495-507
Author(s):  
Sureyya Sahin ◽  
Leila Notash
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Second Order ◽  
Task Space ◽  
Joint Coordinates ◽  
Kinematic Modelling ◽  
Hybrid Actuation ◽  
Matrix Exponentials ◽  
Actuated Joints ◽  
4 Degrees Of Freedom

The kinematic modelling and analysis of a 4 degrees of freedom wire-actuated parallel manipulator with redundant actuation is investigated. The manipulator employs combinations of rigid links, joints and wires. Hybrid actuation of joints and wires, two actuated joints and three actuated wires, is used. Position and first and second order kinematics of the closed-loop manipulator are formulated based on matrix exponentials. The transfer of first and second order kinematic variables, i.e., wire/joint velocities and accelerations, among the manipulator task space coordinates, active and passive joint coordinates and wire lengths are provided.

scholarly journals Quadrotor UAV Control for Transportation of Cable Suspended Payload

2019 ◽  
Vol 26 (2) ◽  
pp. 77-84 ◽  
Author(s):  
Tom Kusznir ◽  
Jarosław Smoczek
Keyword(s):  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Lagrange Equations ◽  
Wide Range ◽  
Time Required ◽  
Interest In Research ◽  
Emergency Equipment ◽  
Pendulum Dynamics ◽  
4 Degrees Of Freedom

Abstract Payload transportation with UAV’s (Unmanned Aerial Vehicles) has become a topic of interest in research with possibilities for a wide range of applications such as transporting emergency equipment to otherwise inaccessible areas. In general, the problem of transporting cable suspended loads lies in the under actuation, which causes oscillations during horizontal transport of the payload. Excessive oscillations increase both the time required to accurately position the payload and may be detrimental to the objects in the workspace or the payload itself. In this article, we present a method to control a quadrotor with a cable suspended payload. While the quadrotor itself is a nonlinear system, the problem of payload transportation with a quadrotor adds additional complexities due to both input coupling and additional under actuation of the system. For simplicity, we fix the quadrotor to a planar motion, giving it a total of 4 degrees of freedom. The quadrotor with the cable suspended payload is modelled using the Euler-Lagrange equations of motion and then partitioned into translation and attitude dynamics. The design methodology is based on simplifying the system by using a variable transformation to decouple the inputs, after which sliding mode control is used for the translational and pendulum dynamics while a feedback linearizing controller is used for the rotational dynamics of the quadrotor. The sliding mode parameters are chosen so stability is guaranteed within a certain region of attraction. Lastly, the results of the numerical simulations created in MATLAB/Simulink are presented to verify the effectiveness of the proposed control strategy.

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.

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