2A1-J03 Multibody Dynamics Modeling and the IDCS for Motion control of Stewart Platform(Parallel Robot/Mechanisms and its Control)

Abstract The non-linear equations of motion in multi-body dynamics pose a difficult problem in linear control design. It is therefore desirable to have linearization capability in conjunction with a general-purpose multibody dynamics modeling technique. A new computational method for linearization is obtained by applying a series of first-order analytical approximations to the recursive kinematic relationships. The method has proved to be computationally more efficient. It has also turned out to be more accurate because the analytical perturbation requires matrix and vector operations by circumventing numerical differentiation and other associated numerical operations that may accumulate computational error.

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Multibody Dynamics Modeling of Delta Robot with Experimental Validation

10.1007/978-3-030-88751-3_10 ◽

2021 ◽

pp. 94-102

Author(s):

Mohamed Elshami ◽

Mohamed Shehata ◽

Qingshun Bai ◽

Xuezeng Zhao

Keyword(s):

Multibody Dynamics ◽

Experimental Validation ◽

Dynamics Modeling ◽

Delta Robot

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A Study on the Efficient Flexible Multibody Dynamics Modeling of Deep Seabed Integrated Mining System with Subsystem Synthesis Method

Transactions of the Korean Society of Mechanical Engineers A ◽

10.3795/ksme-a.2015.39.12.1213 ◽

2015 ◽

Vol 39 (12) ◽

pp. 1213-1220

Author(s):

Hong-Seon Yun ◽

Sung-Soo Kim ◽

Chang Ho Lee ◽

Hyung-Woo Kim

Keyword(s):

Multibody Dynamics ◽

Synthesis Method ◽

Flexible Multibody Dynamics ◽

Dynamics Modeling ◽

Mining System ◽

Flexible Multibody

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Dynamics Modeling and Motion Control of an New Unmanned Underwater Vehicle

IEEE Access ◽

10.1109/access.2020.2972336 ◽

2020 ◽

Vol 8 ◽

pp. 30119-30126 ◽

Cited By ~ 3

Author(s):

Fang Kong ◽

Yinjing Guo ◽

Wenhong Lyu

Keyword(s):

Motion Control ◽

Underwater Vehicle ◽

Dynamics Modeling ◽

Unmanned Underwater Vehicle

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Multibody Dynamics — Modeling and Analysis Methods

Applied Mechanics Reviews ◽

10.1115/1.3119496 ◽

1991 ◽

Vol 44 (3) ◽

pp. 109-117 ◽

Cited By ~ 46

Author(s):

R. L. Huston

Keyword(s):

Multibody Dynamics ◽

Multibody Systems ◽

System Modeling ◽

Space Structures ◽

Dynamics Modeling ◽

Research Activity ◽

Modeling And Analysis ◽

Physical Systems ◽

Systems Research ◽

Recent Developments

A review of recent developments in multibody dynamics modeling and analysis is presented. Multibody dynamics is one of the fastest growing fields of applied mechanics. Multibody systems are increasingly being employed as models of physical systems such as robots, mechanisms, chains, cables, space structures, and biodynamic systems. Research activity in multibody dynamics has stimulated research in a number of subfields including formulation methods, system modeling, numerical procedures, and graphical representations. These are also discussed and reviewed.

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A Novel 3-DOF Parallel Robot and its Kinematic Analysis

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.607.759 ◽

2014 ◽

Vol 607 ◽

pp. 759-763

Author(s):

Xiao Bo Liu ◽

Xiao Dong Yuan ◽

Xiao Feng Wei ◽

Wei Ni

Keyword(s):

Motion Control ◽

Kinematic Analysis ◽

Degrees Of Freedom ◽

Parallel Robot ◽

Degree Of Freedom ◽

The Novel ◽

Forward Displacement ◽

Simulation Based ◽

Simulation Results

This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

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