scholarly journals Design and Dynamic Modeling of a 3-RPS Compliant Parallel Robot Driven by Voice Coil Actuators

Micromachines ◽  
2021 ◽  
Vol 12 (12) ◽  
pp. 1442
Author(s):  
Chuchao Wang ◽  
Shizhou Lu ◽  
Caiyi Zhang ◽  
Jun Gao ◽  
Bin Zhang ◽  
...  
Keyword(s):  
Pitch Angle ◽  
Driving Force ◽  
Structural Parameters ◽  
Parallel Robot ◽  
Forward Movement ◽  
Intermediate Variable ◽  
Adams Software ◽  
Lagrangian Interpolation ◽  
The Voice ◽  
Lagrangian Dynamic

In order to increase the driving force of the voice coil actuator while reducing its size and mass, the structural parameters of the coil and magnet in the actuator are optimized by combing Biot–Savart law with Lagrangian interpolation. A 30 mm × 30 mm × 42 mm robot based on a 3-RPS parallel mechanism driven by voice coil actuators is designed. The Lagrangian dynamic equation of the robot is established, and the mapping relationship between the driving force and the end pose is explored. The results of dynamic analysis are simulated and verified by the ADAMS software. The mapping relationship between the input current and the end pose is concluded by taking the driving force as the intermediate variable. The robot can bear a load of 10 g. The maximum axial displacement of the robot can reach 9 mm, and the maximum pitch angle and return angle can reach 40 and 35 degrees, respectively. The robot can accomplish forward movement through vibration, and the maximum average velocity can reach 4.1 mm/s.

Motion Simulation of Key Components in a Package Machine

2012 ◽  
Vol 557-559 ◽  
pp. 2303-2306
Author(s):  
Shu Bin Kan
Keyword(s):  
Structural Parameters ◽  
Center Of Mass ◽  
Motion Simulation ◽  
Software Environment ◽  
Optimization Result ◽  
Adams Software ◽  
Motion Characteristic ◽  
The Moment ◽  
Selection Of

The motion characteristic of key components is a decisional factor to the working reliability and stability of a package machine. In this paper, the motion simulation of a key component is carried out in the ADAMS software environment. By analysis of the force, variance of the center-of-mass and the moment of the component, the mutation point in the motion is found, and then the structure is optimized by selection of different structural parameters. The optimization result shows a significant improvement for the reliability and stability of the whole machine.

Ethical and Legal Issues in Technology: Xenotransplantation

2001 ◽  
Vol 27 (2-3) ◽  
pp. 283-300
Author(s):  
Fritz H. Bach ◽  
Adrian J. Ivinson ◽  
H.E. Christopher Weeramantry
Keyword(s):  
Material Science ◽  
Driving Force ◽  
New Technologies ◽  
World Society ◽  
Legal Issues ◽  
Ethical And Legal Issues ◽  
Potential Risks ◽  
The Voice

The development and application of technologies will arguably be the major driving force for the evolution of world society in the first part of our new century. In medicine, agriculture, material science, communications and a host of other areas, new technologies promise unimaginable changes in our lives. And yet, in the midst of the euphoria surrounding this rush of invention, there is concern. When asked, people often say they are scared of what they do not know and scared of today's pace and power of invention. Putting aside the voice of the modern Luddite, it appears that while few want to stop the rush toward more and better technology, there is apprehension about the potential risks of the new technologies—risks that have not been sufficiently considered.

Kinematic Modeling of the Variable Vector Propeller in Type of Disk Connecting-Rods

2011 ◽  
Vol 486 ◽  
pp. 57-60
Author(s):  
Feng Lai Li ◽  
Xin Chang ◽  
Fan Kai Kong ◽  
Zhi Bo Zhao
Keyword(s):  
Pitch Angle ◽  
Structural Parameters ◽  
Mechanism Analysis ◽  
Basic Design ◽  
Connecting Rod ◽  
Kinematic Modeling ◽  
Compact Structure ◽  
Spatial Mechanism ◽  
Blade Pitch Angle ◽  
Mechanism Theory

Variable vector propeller has characteristics of small compact structure and lightweight, and the thrust in any direction can be generated due to the cyclical change of blade pitch angle. The structure of a propeller is a complex spatial mechanism, so its kinematic analysis is the basis of controlling the propeller, the dynamics research, the structural parameters design and checking of the propeller. The propeller considering the mechanism of disk connecting rod variable pitch as the basic design is researched in this study. The mechanism analysis was carried out by means of the mechanism theory, the spatial kinematic modeling for bodies was completed, the motion relationship was derived and the related kinematic equations were obtained.

scholarly journals Concept Design and Load Capacity Analysis of a Novel Serial-Parallel Robot for the Automatic Charging of Electric Vehicles

Electronics ◽  
2020 ◽  
Vol 9 (6) ◽  
pp. 956
Author(s):  
Han Yuan ◽  
Qiong Wu ◽  
Lili Zhou
Keyword(s):  
Electric Vehicles ◽  
Load Capacity ◽  
Structural Parameters ◽  
Maximum Load ◽  
Parallel Robot ◽  
Driving Ability ◽  
Concept Design ◽  
Electric Vehicle Charging ◽  
Pulling Forces ◽  
High Load Capacity

The automatic charging of electric vehicles is an important but challenging problem. Recently, various charging robots are proposed for electric vehicles. Most previous researches do not pay enough attention to the robots’ load capacities. Actually, providing the charging connector with adequate pushing and/or pulling forces is vital to guarantee a reliable electrical connection, which is a key issue for charging robot design. In this paper, we present a novel serial-parallel robot for the automatic charging of electric vehicles. This robot is based on the 3 universal-prismatic-universal (3UPU) parallel mechanism and featured by high-load capacity. We firstly address the kinematic and static models of the proposed robot, then analyze its load capacity. It is shown that the robot’s maximum load capacity depends not only on the driving ability of the prismatic joints, but also on the robot’s structural parameters and the robot’s configuration. Finally, optimizations are made and results show that the robot’s load capacity along the desired trajectory has more than doubled. Results of this paper could be useful for the development of automatic electric-vehicle-charging devices.

Electron diffraction from cylindrical nanotubes

1994 ◽  
Vol 9 (9) ◽  
pp. 2450-2456 ◽  
Author(s):  
L.C. Qin
Keyword(s):  
Carbon Nanotubes ◽  
Electron Diffraction ◽  
Diffraction Pattern ◽  
Pitch Angle ◽  
Bessel Functions ◽  
Structural Parameters ◽  
Fraunhofer Diffraction ◽  
Projection Approximation ◽  
Cylindrical Nanotubes ◽  
Diffraction Patterns

Electron diffraction intensities from cylindrical objects can be conveniently analyzed using Bessel functions. Analytic formulas and geometry of the diffraction patterns from cylindrical carbon nanotubes are presented in general forms in terms of structural parameters, such as the pitch angle and the radius of a tubule. As an example the Fraunhofer diffraction pattern from a graphitic tubule of structure [18,2] has been simulated to illustrate the characteristics of such diffraction patterns. The validity of the projection approximation is also discussed.

Structure Optimal Design of Pneumatic 6-DOF Parallel Robot Based on Natural Frequency

2010 ◽  
Vol 450 ◽  
pp. 349-352 ◽  
Author(s):  
Bo Wu ◽  
Li Xu ◽  
Xiao Dong Yu ◽  
Zhi Wei Wang ◽  
He Xu
Keyword(s):  
Mathematical Model ◽  
Optimal Design ◽  
Natural Frequency ◽  
Dynamic Equation ◽  
Structural Design ◽  
Optimization Design ◽  
Structural Parameters ◽  
Parallel Robot ◽  
Optimization Rule ◽  
Design Aspect

. In order to improve the dynamic response rapidity and positioning precision for pneumatic 6-DOF parallel robot from the structural design aspect, a mathematical model of natural frequency for the parallel robot is developed based on dynamic equation by using vibration theory. The influences of structural parameters on minimal natural frequency are analyzed by simulation and an optimization rule of structural parameters based on minimal natural frequency is proposed. The optimization rule has advantages of simplification and efficiency, which provides a new theoretical gist for optimization of structural parameters as well as for checking the results of the actual natural frequency for pneumatic 6-DOF parallel robot. And this new rule is also valuable for structural optimization design of other similar parallel robot.

Simulation Analysis of Support Installation Vehicle’s Working Unit Based on ADAMS

2012 ◽  
Vol 482-484 ◽  
pp. 1707-1712
Author(s):  
Hui Sheng Guan ◽  
Ke Long Luo ◽  
Dong Dong
Keyword(s):  
Finite Element Analysis ◽  
Driving Force ◽  
3D Model ◽  
Simulation Analysis ◽  
Virtual Prototyping ◽  
Element Analysis ◽  
Joint Force ◽  
The Finite Element Analysis ◽  
Adams Software ◽  
Working Principle

This paper introduces the structural composition and the working principle of the support installation vehicle. The 3D model of the support installation vehicle is established in SolidWorks and imported into ADAMS. Then the virtual prototyping model of the support installation vehicle is established with ADAMS software. The dynamically leveling angle curve of the leveling mechanism is obtained by the simulation analysis. Curves of cylinders’ driving force and the joint force are also derived. The results of simulation analysis contribute to the finite element analysis of working unit and the designs of cylinders of the support installation vehicle.

Based on Adams and Matlab Co-Simulation and Experimentation Research for Independent 4WD EV

2011 ◽  
Vol 383-390 ◽  
pp. 7238-7245 ◽  
Author(s):  
Yu Qin Zhao ◽  
Run Sheng Zhang ◽  
Li Ye Li ◽  
Zhi Jun Zhang
Keyword(s):  
Control System ◽  
Driving Force ◽  
Force Distribution ◽  
Distribution Strategy ◽  
Drive Control ◽  
Wheel Drive ◽  
Simulation Based ◽  
Adams Software ◽  
Multi Body ◽  
Body Dynamic

Analyzing the structural property of model vehicle, a multi-body dynamic model of a full independent 4-wheel-drive electric vehicle(4WD EV) is established by using automatic dynamic analysis of mechanical systems (ADAMS) software, and an electric motor and drive-control system is established under Matlab/Simulink environment. Co-simulation based on the two soft wares is under control of the equality power driving force distribution strategy controller. The results of co-simulation show that the co-simulation is effective and the model’s rationality is validated. It could be applied in the following experiments in complex circumvents, and give theoretic supports.

Self-excited vibration of a 3-PRR planar parallel robot

2021 ◽  
pp. 095440622110095
Author(s):  
Xuxian Zhu ◽  
Zhicheng Qiu ◽  
Lingbo Xie ◽  
Xianmin Zhang
Keyword(s):  
Vibration Frequency ◽  
Trajectory Tracking ◽  
Coupling Effect ◽  
Structural Parameters ◽  
Self Regulation ◽  
Parallel Robot ◽  
Parallel Robots ◽  
The Self ◽  
Excited Vibration ◽  
Motion Speed

Self-excited vibration of parallel robots can seriously affect the motion performance and damage the mechanical structure. In order to study the self-excited vibration characteristics of a 3-PRR (where P and R represent the prismatic and revolute joints respectively and the underlined letter represents the actuated joint) planar parallel robot, dynamic model is firstly established and the singularity is analyzed theoretically. Then the dynamic characteristics at internal and boundary singularities are both explored experimentally. The motion form and generating mechanism of the self-excited vibration are researched. The influencing factors on vibration frequency are obtained and the self-excited vibration during trajectory tracking motion is analyzed. Finally, a singularity escaping strategy is proposed and tested. Theoretical analysis and experimental results show that the performance of parallel robot deteriorates dramatically at singularities. Nevertheless, the parallel robot can pass through the internal singularity successfully with optimized load and motion speed so that the workspace can be expanded. The 3-PRR planar parallel robot exhibits self-excited vibration at internal singularities, which is mainly caused by the singularity, self-regulation of motors and the closed-chain coupling effect. The vibration frequency is mainly determined by singular configuration and the structural parameters. The parallel robot can maintain self-excited vibration state while carrying out trajectory tracking under a singular attitude angle. Moreover, the proposed singularity escaping strategy is verified to be feasible so that the self-excited vibration can be eliminated effectively.

scholarly journals Motion Reliability Analysis of the Delta Parallel Robot considering Mechanism Errors

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Yu Li ◽  
Deyong Shang ◽  
Xun Fan ◽  
Yue Liu
Keyword(s):  
Reliability Analysis ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Vertical Direction ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Joint Clearance ◽  
Spherical Joint ◽  
Key Factor ◽  
The Relationship

Delta parallel robots are widely used in assembly detection, packaging sorting, precision positioning, and other fields. With the widespread use of robots, people have increasing requirements for motion accuracy and reliability. This paper considers the influence of various mechanism errors on the motion accuracy and analyzes the motion reliability of the mechanism. Firstly, we establish a kinematic model of the robot and obtain the relationship between the position of the end effector and the structural parameters based on the improved D–H transform rule. Secondly, an error model considering the dimension error, the error of revolute joint clearance, driving error, and the error of spherical joint clearance is established. Finally, taking an actual robot as an example, the comprehensive influence of mechanism errors on motion accuracy and reliability in different directions is quantitatively analyzed. It is shown that the driving error is a key factor determining the motion accuracy and reliability. The influence of mechanism errors on motion reliability is different in different directions. The influence of mechanism errors on reliability is small in the vertical direction, while it is great in the horizontal direction. Therefore, we should strictly control the mechanism errors, especially the driving angle, to ensure the motion accuracy and reliability. This research has significance for error compensation, motion reliability analysis, and reliability prediction in robots, and the conclusions can be extended to similar mechanisms.

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