Determining the Driving Torques of the Robots with Delta 3DOF Parallel Structure by Using the MSC ADAMS Software Pack

2013 ◽  
Vol 332 ◽  
pp. 224-228 ◽  
Author(s):  
Dragoș Andrioaia ◽  
Dan Rotar ◽  
Gabriel Puiu
Keyword(s):  
Parallel Mechanism ◽  
Parallel Structure ◽  
High Stiffness ◽  
Adams Software ◽  
Software Pack ◽  
Driving Torque

During the latest years the parallel structure robots have been used more and more due to their advantages that consist of: high stiffness, availability for usage at higher speed and acceleration rates. In general these robots are used for handling light objects [. For choosing the driving servomotors of the robots, the maximum torques needed for the parallel mechanism to transport an object of a certain weight, along a trajectory, at a certain speed and acceleration, have to be considered. In this work the authors are approaching the study of the variation of the driving torques of the robots with parallel structure Delta 3DOF along a trajectory, in order to select the driving servomotors [2]. For analyzing the driving torque variations along a trajectory the MSC Adams software pack has been used.

Inverse Kinematic Solution and Dynamic Model to 3PTT Parallel Mechanism

2014 ◽  
Vol 945-949 ◽  
pp. 1421-1425
Author(s):  
Xiu Qing Hao
Keyword(s):  
Dynamic Model ◽  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Euler Method ◽  
Research Subject ◽  
Adams Software ◽  
Inverse Kinematic Analysis ◽  
Simulation Results ◽  
Kinematic Solution

Take typical parallel mechanism 3PTT as research subject, its inverse kinematic analysis solution was gotten. Dynamic model of the mechanism was established by Newton-Euler method, and the force and torque equations were derived. Dynamic simulation of 3PTT parallel mechanism was done by using ADAMS software, and simulation results have verified the correctness of the theoretical conclusions.

scholarly journals Design and Analysis of a Flexible, Elastic, and Rope-Driven Parallel Mechanism for Wrist Rehabilitation

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Zaixiang Pang ◽  
Tongyu Wang ◽  
Junzhi Yu ◽  
Shuai Liu ◽  
Xiyu Zhang ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Parallel Structure ◽  
Flexible Joints ◽  
Rehabilitation Robots ◽  
Hybrid Mechanism ◽  
Compression Spring ◽  
Moving Platform

This paper proposes a bionic flexible wrist parallel mechanism to simulate human wrist joints, which is characterized by a rope-driven, compression spring-supported hybrid mechanism. Specifically, to realize the movement of the wrist mechanism, a parallel structure is adopted to support the mobile platform and is controlled by a cable, which plays the role of wrist muscles. Because the compression spring is elastic, it is difficult to directly solve inverse kinematics. To address this problem, the external force acting on the moving platform is firstly equivalent to the vector force and torque at the center of the moving platform. Then, based on inverse kinematic and static analyses, the inverse motion of the robot model can be solved according to the force and torque balance conditions and the lateral spring bending equation of the compression spring. In order to verify the proposed method, kinematics, statics, and parallel mechanism workspace are further analyzed by the software MATLAB. The obtained results demonstrate the effectiveness and feasibility of the designed parallel mechanism. This work offers new insights into the parallel mechanism with flexible joints in replicating the movements of the human wrist, thus promoting the development of rehabilitation robots and rope-driven technology to some extent.

Design and analysis of a pneumatic muscle driven parallel mechanism for imitating human pelvis

2013 ◽  
Vol 228 (4) ◽  
pp. 723-741 ◽  
Author(s):  
Xingwei Zhao ◽  
Bin Zi
Keyword(s):  
Parallel Mechanism ◽  
Humanoid Robot ◽  
Kinematic Model ◽  
Ideal Gas ◽  
Euler Method ◽  
Parallel Structure ◽  
Robot Design ◽  
Pneumatic Muscle ◽  
Ideal Gas Law ◽  
Mechanics Analysis

Dynamic modeling and mechanics analysis of a novel pneumatic muscle driven parallel mechanism for imitating human pelvis (PMPMHP) is investigated. The PMPMHP has some advantages for both parallel structure and pneumatic muscle actuator. To begin with, the kinematic model of the PMPMHP is introduced and the dimensions of the PMPMHP are optimized by using genetic algorithm. Then, the dynamic model is developed on the basis of Newton–Euler method and ideal gas law. After that the workspace, singularity and stiffness of the PMPMHP are analyzed. At the end, simulation results indicate the feasible operation performances of the PMPMHP. This mechanism can be further utilized either for rehabilitation therapy of human pelvises or for humanoid robot design of the pelvis part.

Modeling and Simulation of a Six-Leg-Wheel Hybrid Mobile Robot Based on ADAMS

2010 ◽  
Vol 26-28 ◽  
pp. 194-197
Author(s):  
Yan Jie Li ◽  
Zhen Wei Wu
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Modeling And Simulation ◽  
Dynamic Simulation ◽  
Dynamic Modeling ◽  
Contact Force ◽  
Robot Control ◽  
Kinematic Simulation ◽  
Adams Software ◽  
Driving Torque

The dynamic modeling of a six-leg-wheel hybrid mobile robot was built using ADAMS software in this paper. Using the ADAMS model, the kinematic simulation, including the displacement, velocity and acceleration of each part of the robot, can be carried out and the dynamic simulation, including driving torque of joints, contact force and torque between the wheels with ground and the ability of obstacle negotiation, can also be achieved. The simulation examples were presented. The simulation analyses provide the theory basis for the design of the robot control system based on dynamics.

Analysis and Simulation of a Hybrid Mechanism with 2R-3T of Special Machining Platform

2013 ◽  
Vol 575-576 ◽  
pp. 341-347
Author(s):  
Qi Zhi Yang ◽  
Bin Bin Yao ◽  
Dian Feng Cao
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Materials Processing ◽  
Hybrid Mechanism ◽  
Adams Software ◽  
Hybrid Platform ◽  
Parallel Platform ◽  
Pose Alignment ◽  
Processing Platform ◽  
Curved Surface Parts

This paper designs a platform which is used for material pose alignment of complex curved surface parts laser processing. The parallel platform is based on a hybrid mechanism with five spatial degrees of freedom. The mechanism is built up by three parallel vertical chains {(P-R-C), (C-R-C-R), (P-H)} and two series single opened chains {(P), (P)}. This processing platform is an ideal hybrid platform with 2R-3T, and it has the advantages of both the parallel mechanism and the series mechanism. The DOF (degree of freedom) of the parallel mechanism is calculated and the positions of the moving platform are analyzed. The results of the position-equations are simulated by using ADAMS software. It is shown that the processing platform is able to meet the requirements of any angle positions of various materials processing, and realize material special machining.

Spherical and Non-Spherical Combined Two Degree-of-Freedom Rotational Parallel Mechanism for a Microsurgical Robotic System

2018 ◽  
Vol 30 (6) ◽  
pp. 846-854
Author(s):  
Jumpei Arata ◽  
Yoshiteru Kobayashi ◽  
Ryu Nakadate ◽  
Shinya Onogi ◽  
Kazuo Kiguchi ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
High Accuracy ◽  
Mechanical Tests ◽  
Robotic System ◽  
Parallel Structure ◽  
Small Vessels ◽  
Technical Requirements ◽  
Close Proximity ◽  
Two Degree Of Freedom

Microsurgery, often performed for anastomosis of small vessels and nerves, requires micro-manipulations of small tissues and thus requires highly specialized surgical skills. Robotic technology has great potential to assist with microsurgical treatments because of the high accuracy provided by robots; however, implementation remains challenging because the technical requirements of robotic surgery are far different from those in industry. One of the greatest challenges is that two surgical tools (e.g., tweezers) must be precisely and deftly moved around the surgical area in seven degrees of freedom (DOF) using one DOF to grasp each tool, and these tools are used in close proximity to each other. Additionally, high accuracy and rigidity at the tool tip are imperative for successful performance of the microsurgical procedure. In this study, we propose a new rotational two-DOF parallel mechanism that has the inherent advantages of a parallel mechanism, namely accuracy and rigidity, within a newly proposed spherical and non-spherical combined parallel structure to prevent collision of the two mechanisms in a dual-arm setup for microsurgery. The prototype was evaluated by performing a series of mechanical tests, and microsurgical suturing was performed by a microsurgical robotic system. The series of evaluations demonstrated the feasibility of the proposed mechanism.

scholarly journals A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model

2019 ◽  
Vol 234 (1) ◽  
pp. 185-197
Author(s):  
Lucian Milica ◽  
Alexandru Năstase ◽  
Gabriel Andrei
Keyword(s):  
Dynamic Model ◽  
Parallel Mechanism ◽  
Dynamic Models ◽  
Kinematic Chain ◽  
Inverse Dynamic ◽  
Original Algorithm ◽  
Absorbed Power ◽  
Dynamic Inverse ◽  
Driving Torque ◽  
Extended Dynamic

Dynamic models of several mechanical systems are used for the analysis of specific robotic mechanisms. Two different situations may be encountered. The first situation is when the robot’s command system, based on Lagrange’s differential equations, calculates the corrections of command parameters of the actuators at short intervals of time. This model includes both the characteristics of the mechanical structure and those of the actuators and transmission. A second situation is encountered during the motion planning, when a model is needed to calculate both engine parameters and inertial forces which are applied to the mechanical system during the operation. Consequently, in this study, a d’Alembert-Newton model is used for extended dynamic analysis of a new constructive solution of a parallel mechanism. The dynamic model of a HEXA parallel mechanism has been developed using the abovementioned theory, and further, the dynamic inverse solution has been obtained. The numerical results were obtained using an original algorithm. This dynamic model allows the estimation of power absorbed by each actuator and also the loading control for each kinematic chain of the HEXA parallel mechanism. Knowing the variation of driving torque, for all the six actuators of the mechanism, allows the user to choose an optimal trajectory, such as avoiding excessive loading of a single kinematic chain.

A 6-DOF Compliant Joints-Based Precision Parallel Positioner System Driven by Dual Piezoelectric Actuators

2007 ◽  
Author(s):  
Wei Dong ◽  
Zhijiang Du ◽  
Lining Sun
Keyword(s):  
Parallel Mechanism ◽  
Load Capacity ◽  
Piezoelectric Actuators ◽  
Piezoelectric Ceramics ◽  
Parallel Structure ◽  
Nanometer Scale ◽  
Compliant Joints ◽  
Piezoelectric Motors ◽  
Motion Range ◽  
Large Motion

A precision compliant parallel-structure positioner is presented in this paper, which is dually driven by six piezoelectric motors and six piezoelectric ceramics respectively. This compliant system has a load capacity higher than 2 kg because the parallel mechanism is adopted as the main architecture. This system also can provide larger workspace and higher accuracy simultaneously compared with the conventional compliant positioner systems, because it perfectly integrates two kinds of piezoelectric actuators in one parallel system. The upper platform has the stroke of 10 mm in three linear motion directions and of 6 arc-degrees in three angle motion directions respectively for the adoption of piezoelectric motors as the large motion range actuators. The positioning resolution and repeatability of the upper platform is nanometer scale for the adoption of piezoelectric ceramics as the high precision actuators.

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