scholarly journals Mathematical Modeling, Design Validation, and Simulation of Morphing Mechanism for Winglet Applications

2021 ◽  
Author(s):  
Upasana Choudhuri
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
System Response ◽  
Preliminary Design ◽  
Kinematic Modeling ◽  
System Operation ◽  
Design Validation ◽  
Velocity Models ◽  
Redundantly Actuated ◽  
Inverse Velocity

Presented within this thesis is the preliminary design phases for the development of a morphing winglet mechanism. The mathematical models and analyses conducted within this thesis provide the means for bringing the design concept stage to the testing and validation phases. The kinematic modeling of a proposed design is developed. The inverse kinematics of the system are used to determine the required inputs to meet the range of motion. The velocity models for the system are established for both the forward and inverse cases. The inverse velocity models are used to establish a synchronous behaviour between the two serial linkages. Thus, allowing system operation as a redundantly actuated parallel mechanism. The results of implementation are evaluated for the initial and optimized designs. A proposed velocity profile is developed to facilitate control and desired operation of the system. This is then validated by the testing of the system response and error.

scholarly journals Mathematical Modeling, Design Validation, and Simulation of Morphing Mechanism for Winglet Applications

2021 ◽  
Author(s):  
Upasana Choudhuri
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
System Response ◽  
Preliminary Design ◽  
Kinematic Modeling ◽  
System Operation ◽  
Design Validation ◽  
Velocity Models ◽  
Redundantly Actuated ◽  
Inverse Velocity

Presented within this thesis is the preliminary design phases for the development of a morphing winglet mechanism. The mathematical models and analyses conducted within this thesis provide the means for bringing the design concept stage to the testing and validation phases. The kinematic modeling of a proposed design is developed. The inverse kinematics of the system are used to determine the required inputs to meet the range of motion. The velocity models for the system are established for both the forward and inverse cases. The inverse velocity models are used to establish a synchronous behaviour between the two serial linkages. Thus, allowing system operation as a redundantly actuated parallel mechanism. The results of implementation are evaluated for the initial and optimized designs. A proposed velocity profile is developed to facilitate control and desired operation of the system. This is then validated by the testing of the system response and error.

Analysis of a mechanism with redundant drive for antenna pointing

2016 ◽  
Vol 231 (2) ◽  
pp. 229-239 ◽  
Author(s):  
Xin Li ◽  
Xilun Ding ◽  
Gregory S Chirikjian
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Numerical Examples ◽  
Pointing Device ◽  
Key Factor ◽  
Rotary Motors ◽  
Redundantly Actuated ◽  
Pointing Accuracy ◽  
Forward And Inverse Kinematics ◽  
Redundant Drive

Orientation accuracy is a key factor in the design of mechanisms for antenna pointing. Our design uses a redundantly actuated parallel mechanism which may provide an effective way to solve this problem, and even can increase its payload capability and reliability. The presented mechanism can be driven by rotary motors fixed on the base to reduce the inertia of the moving parts and to lower the power consumption. The mechanism is redundantly actuated by three arms, and is used as a two-dimensional antenna tracking and pointing device. Both the forward and inverse kinematics are investigated to find all the possible solutions. Detailed characters of the platform are analyzed to demonstrate the advantages in eliminating singularities and improving pointing accuracy. A method of calculating the overconstrained orientational error is also proposed based on the differential kinematics. All the methods are verified by numerical examples.

Kinematics of a planar slider-crank linkage in screw form

2021 ◽  
pp. 095440622110207
Author(s):  
Jing-Shan Zhao ◽  
Songtao Wei ◽  
Junjie Ji
Keyword(s):  
Angular Velocity ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Numerical Algorithms ◽  
Forward Kinematics ◽  
End Effector ◽  
First Order ◽  
Forward And Inverse Kinematics ◽  
Definition Of ◽  
Inverse Velocity

This paper investigates the forward and inverse kinematics in screw coordinates for a planar slider-crank linkage. According to the definition of a screw, both the angular velocity of a rigid body and the linear velocity of a point on it are expressed in screw components. Through numerical integration on the velocity solution, we get the displacement. Through numerical differential interpolation of velocity, we gain the acceleration of any joint. Traditionally, position and angular parameters are usually the only variables for establishing the displacement equations of a mechanism. For a series mechanism, the forward kinematics can be expressed explicitly in the variable of position parameters while the inverse kinematics will have to resort to numerical algorithms because of the multiplicity of solution. For a parallel mechanism, the inverse kinematics can be expressed explicitly in the variable of position parameters of the end effector while the forward kinematics will have to resort to numerical algorithms because of the nonlinearity of system. Therefore this will surely lead to second order numerical differential interpolation for the calculation of accelerations. The most prominent merit of this kinematic algorithm is that we only need the first order numerical differential interpolation for computing the acceleration. To calculate the displacement, we also only need the first order numerical integral of the velocity. This benefit stems from the screw the coordinates of which are velocity components. The example of planar four-bar and five-bar slider-crank linkages validate this algorithm. It is especially suited to developing numerical algorithms for forward and inverse velocity, displacement and acceleration of a linkage.

Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology

2021 ◽  
Author(s):  
Brian J. Slaboch ◽  
Peter Holtzen ◽  
Luis A. Rodriguez
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Lower Cost ◽  
Velocity Analysis ◽  
Kinematic Modeling ◽  
Efficient Mechanism ◽  
Lower Weight ◽  
Workspace Analysis ◽  
Variable Topology ◽  
Forward And Inverse Kinematics

Abstract This paper introduces a new mechanism that will be classified as an RR-RP hybrid serial-parallel mechanism with variable topology. A mechanism with variable topology is a mechanism that can change its topology due to a change it its joints constraint geometric profile. The RR-RP is unique in that it combines the functionality of both an RR and RP serial manipulator without the need for an additional actuator, leading to a lower weight, lower cost, and more efficient mechanism. The new mechanism and its topology are presented, followed by a workspace analysis, derivation of the forward and inverse kinematics, and velocity analysis of the new mechanism.

Force analysis of the redundantly actuated parallel mechanism 2RPR+P considering different control methodologies

2021 ◽  
pp. 103783
Author(s):  
Yundou Xu ◽  
Ze Jiang ◽  
Zhongjin Ju ◽  
Zengzhao Wang ◽  
Wenlan Liu ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Force Analysis ◽  
Redundantly Actuated

Kinematic analysis and design of a novel 6-degree of freedom parallel robot

2014 ◽  
Vol 229 (2) ◽  
pp. 291-303 ◽  
Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang
Keyword(s):  
Set Theory ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Parallel Robot ◽  
End Effector ◽  
Analysis And Design ◽  
Velocity Models ◽  
Reachable Workspace ◽  
Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

Kinematic Analysis of a Novel 3-DOF Parallel Mechanism with Actuation Redundancy

2013 ◽  
Vol 816-817 ◽  
pp. 821-824
Author(s):  
Xue Mei Niu ◽  
Guo Qin Gao ◽  
Zhi Da Bao
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Rbf Neural Network ◽  
Analysis Method ◽  
Parallel Kinematic Mechanism ◽  
Redundantly Actuated ◽  
Parallel Kinematic ◽  
Forward Kinematic ◽  
Kinematic Mechanism ◽  
Kinematic Solution

Kinematic analysis plays an important role in the research of parallel kinematic mechanism. This paper addresses a novel forward kinematic solution based on RBF neural network for a novel 2PRRR-PPRR redundantly actuated parallel mechanism. Simulation results illustrate the validity and feasibility of the kinematic analysis method.

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