Kinematic and Modal Simulation Analysis of the Bionic Eye Based on Spherical Parallel Mechanism (SPM)

2011 ◽  
Vol 128-129 ◽  
pp. 1151-1156 ◽  
Author(s):  
Jun Luo ◽  
Qi Ming Guo ◽  
Heng Yu Li ◽  
Chao Jiong Huang ◽  
Shao Rong Xie
Keyword(s):  
Modal Analysis ◽  
Motion Control ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Simulation Analysis ◽  
Displacement Velocity ◽  
Kinematics Analysis ◽  
End Effector ◽  
Bionic Eye ◽  
Spherical Parallel Mechanism

In order to realize stable tracking under bumpy environment, the robot bionic eye constructed by spherical parallel mechanism with 3 DOF is designed based on the characteristics of human being’s eyes. ANSYS and ADAMS are utilized to conduct modal and kinematics property analysis respectively. According to the result of ANSYS modal analysis, the structure highly meets the demands of function and reliability, which lays the foundation for optimization and bump-resistance design. Through ADAMS kinematics analysis, displacement, velocity and acceleration curves of mechanism end effector were obtained, which provides reference for motion control and optimization design.

scholarly journals An Underwater Vector Propulsion Device Based on the RS+2PRS Parallel Mechanism and Its Attitude Control Algorithm

2019 ◽  
Vol 9 (23) ◽  
pp. 5210 ◽  
Author(s):  
Wang ◽  
Guo ◽  
Zhong
Keyword(s):  
Attitude Control ◽  
Parallel Mechanism ◽  
Control Algorithm ◽  
Simulation Analysis ◽  
Autonomous Underwater Vehicles ◽  
Propulsion System ◽  
Precession Angle ◽  
Nutation Angle ◽  
Prismatic Joints ◽  
Spherical Parallel Mechanism

In order to overcome the disadvantages of some existing autonomous underwater vehicles (AUVs), such as actuator extraposition and degree-of-freedom (DOF) redundancy, a 2-DOF vector propeller propulsion system with built-in actuator based on the deficient DOF parallel mechanism is proposed. The RS+2PRS (Revolute-Spherical+ Prismatic-Revolute-Spherical) parallel mechanism is used as the main structure, and the driving parts are placed in the interior of the AUV cabin, which is beneficial to the sealing and protection of the propulsion system. In addition, the motion parameters decoupling shows that the two independent parameters are the precession angle and the nutation angle of the propeller installation platform. Therefore, the attitude control algorithm uses two prismatic joints as driving units to establish the nonlinear mapping model with the two Euler attitude angles. In the end, the simulation analysis and the real device are used to verify the feasibility of the attitude control algorithm and the in situ adjustment function of the propeller, which lays the theoretical foundation for engineering applications in the future.

Inverse Kinematics Analysis of a 2-Dof Spherical Parallel Shift Manipulator

2015 ◽  
Vol 741 ◽  
pp. 687-690
Author(s):  
Lu Xi Chen ◽  
Zhan Xian Li ◽  
Zhi Jun Wang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Inverse Solution ◽  
Structure Characteristic ◽  
Chinese Characters ◽  
Kinematics Analysis ◽  
Parallel Shift ◽  
Kinematics Simulation ◽  
Spherical Parallel Mechanism

Shift manipulator requires the transmission shift lever end Chinese characters ‘Wang’ motion, this paper proposes a kind of 2-Dof asymmetric spherical parallel mechanism to realize the movement. The structure characteristic and the trajectory of the manipulator are described. The position inverse solution of the 2-Dof spherical parallel mechanism is obtained by inverse kinematics analysis. Inverse kinematics simulation of the parallel mechanism is proposed finally.

Design Optimization of 6-HTRT Parallel Robot Orientated on Workspace

2003 ◽  
Author(s):  
Hui Yu ◽  
Jinsong Wang ◽  
Guanghong Duan ◽  
Lining Sun
Keyword(s):  
Design Optimization ◽  
Motion Control ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Optimization Method ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Objective Functions ◽  
Restriction Factors

In this paper an optimization method based on the Mechanics of Parallel Robots and orientated on workspace is conducted in the construction of 6-HTRT parallel robot. By analyzing the characteristics of specific workspace and setting up objective functions, optimizations are implemented on the design of parallel robot. As a result of the optimization design, the parallel robot not only figures the minimum overall size of robot structural, but also has workspace unrestricted by the limit range of Hooke joint’s conical angles. The restriction factors on workspace of 6-HTRT parallel robot are reduced thus the algorithm for motion control of the robot is simplified and the performance of the parallel mechanism is improved.

Parameter Optimization Design of a Novel Robot Shoulder Based on the Workspace

2013 ◽  
Vol 749 ◽  
pp. 561-565
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Shoulder Joint ◽  
Parallel Mechanism ◽  
Optimization Design ◽  
Structural Parameters ◽  
Connecting Rod ◽  
Spherical Parallel Mechanism ◽  
Kinematic Performance ◽  
Joint Mechanism ◽  
Parameter Optimization Design ◽  
Mechanical Constraint

A robot shoulder joint should have good kinematic performance and workspace, but the structural parameters of shoulder joint directly affect the workspace. In order to increase the workspace of shoulder joint, a novel robot shoulder joint based on 3-DOF orthogonal spherical parallel mechanism is proposed. This paper studied the influence on its workspace affected by the variation of structural parameters of the connecting rod, frame connecting rod, rod diameter of this shoulder joint mechanism. Based on the consideration of mechanical constraint, the objective function of the optimal structural parameters of the shoulder joint is established. Having the maximum the workspace, the structural parameters of shoulder joint are gained.

System Design and Study on Bionic Eye of Spherical Parallel Mechanism Based on Attitude Closed-loop Control

ROBOT ◽  
2011 ◽  
Vol 33 (3) ◽  
pp. 354-359 ◽  
Author(s):  
Chao LI ◽  
Shaorong XIE ◽  
Hengyu LI ◽  
Jinsong MIAO ◽  
Yuanyu XU ◽  
...  
Keyword(s):  
System Design ◽  
Parallel Mechanism ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Loop Control ◽  
Bionic Eye ◽  
Spherical Parallel Mechanism

Kinematics Analysis of a 3-RRR Spherical Parallel Mechanism with Coaxial Input Shafts

2013 ◽  
Vol 404 ◽  
pp. 237-243
Author(s):  
Yu Lei Hou ◽  
Xin Zhe Hu ◽  
Da Xing Zeng
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Inverse Solution ◽  
Kinematics Analysis ◽  
Motion Feature ◽  
Displacement Problem ◽  
Spherical Parallel Mechanism ◽  
Three Degrees Of Freedom

As an important mechanism with special and extensive application, the three degrees of freedom spherical parallel mechanism is always a research hot in the mechanical fields. In this paper, the feature of the 3-RRR spherical parallel mechanism with coaxial input shafts is introduced, and its motion feature is analyzed based on the screw theory. The mobility of the spherical parallel mechanism is calculated by using the Modified Kutzbach-Grübler criterion, and the inverse displacement problem of the mechanism is solved. Then the expression of the Jacobian matrix is deduced based on the kinematics equation and its inverse solution. The contents of this paper should be useful for the further application of the spherical parallel mechanism.

Modal Analysis and Design of Six Dimensional Vibration Damping Device Based on Hexapod Platform

2010 ◽  
Vol 33 ◽  
pp. 128-131
Author(s):  
Wei Zhu ◽  
De Jun Kong ◽  
Ai Ping Hu
Keyword(s):  
Modal Analysis ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Simulation Analysis ◽  
Vibration Damping ◽  
Dynamics Model ◽  
Analysis And Design ◽  
Vibration Model ◽  
Adams Software

A six dimensional vibration damping device is introduced which is composed of Hexapod parallel mechanism and six controllable damp units fixed on driving pairs. Firstly, the structure of the system is designed according to theory of the Hexapod mechanism. Then, Jacobian matrix and dynamics model are discussed successively. Lastly, a six dimensional vibration model is found by using ADAMS software. Through theory and simulation analysis, it has been approved that the system can be used to control six dimensional vibrations.

scholarly journals Research and Test of Three-Pulley Noncircular Synchronous Pulley Transmission Mechanism with Minimum Slack

2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Jianneng Chen ◽  
Xincheng Sun ◽  
Chuanyu Wu ◽  
Dadu Xiao ◽  
Jun Ye
Keyword(s):  
Optimization Design ◽  
Simulation Analysis ◽  
Transmission Mechanism ◽  
Driving Mechanism ◽  
Belt Drive ◽  
Drive Mechanism ◽  
Automatic Optimization ◽  
Pitch Curve ◽  
Synchronous Belt Drive ◽  
Belt Transmission

AbstractThe noncircular synchronous belt drive mechanism has demonstrated certain achievements and has been used in special fields. Research regarding noncircular synchronous belt drive mechanisms has focused on optimization design and kinematic analysis in China, whereas two pulley noncircular synchronous belt transmissions have been developed overseas. However, owing to the noncircular characteristics of the belt pulley, the real-time variation in the belt length slack during the transmission of the noncircular synchronous belt is significant, resulting in high probabilities of skipping and vibration. In this study, a noncircular tensioning pulley is added to create a stable three-pulley noncircular synchronous belt driving mechanism and a good synchronous belt tensioning, with no skipping; hence, the non-uniform output characteristic of the driven pulley is consistent with the theoretical value. In the circular noncircular noncircular three-pulley noncircular synchronous belt mechanism, the pitch curve of the driving synchronous belt pulley is circular, whereas those of the driven synchronous belt and tensioning pulleys are noncircular. To minimize the slack of the belt length of the synchronous belt and the constraint of the concavity and circumference of the tensioning pulley, an automatic optimization model of the tensioning pulley pitch curve is established. The motion simulation, analysis, and optimization code for a three-belt-pulley noncircular synchronous belt drive mechanism is written, and the variation in belt length slack under different speed ratios is analyzed based on several examples. The testbed for a circular–noncircular–noncircular three-pulley noncircular synchronous belt transmission mechanism is developed. The test shows that the three-pulley noncircular synchronous belt drives well. This study proposes an automatic optimization algorithm for the tensioning pulley pitch curve of a noncircular synchronous belt transmission mechanism; it yields a stable transmission of the noncircular synchronous belt transmission mechanism as well as non-uniform output characteristics.

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