Kinematics Simulation Analysis of Turn-Milling Center Based on Virtual Prototype

2010 ◽  
Vol 43 ◽  
pp. 683-686
Author(s):  
Li Da Zhu ◽  
Jia Ying Pei ◽  
Tian Biao Yu ◽  
Wan Shan Wang
Keyword(s):  
Mechanism Design ◽  
Inverse Kinematics ◽  
Development Time ◽  
Simulation Analysis ◽  
Forward Kinematics ◽  
Optimized Design ◽  
Kinematics Simulation ◽  
Physical Prototype ◽  
Motion Characteristics ◽  
Turn Milling

In order to analyze the motion characteristics of turn-milling center, it’s prototype is modeled and spiral motion is simulated and analyzed to get curves of displacement and velocity in forward kinematics and inverse kinematics. The rationality and applicability of mechanism design is verificated to provide the basis of fast optimized design of turn-milling center. So the method can forecast and improve before physical prototype manufacturing to ensure design feasibility and save development time.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

2015 ◽  
Author(s):  
Andrew P. Sabelhaus ◽  
Hao Ji ◽  
Patrick Hylton ◽  
Yakshu Madaan ◽  
ChanWoo Yang ◽  
...  
Keyword(s):  
Mechanism Design ◽  
Design Process ◽  
Inverse Kinematics ◽  
Gear Ratio ◽  
Forward Kinematics ◽  
Robot Design ◽  
Link Structure ◽  
Iterative Design ◽  
Quadruped Robots ◽  
Ongoing Effort

The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.

Research on the Kinematics Simulation of Out-Moving Jaw Crusher Based on Nastran

2013 ◽  
Vol 433-435 ◽  
pp. 63-66
Author(s):  
Jiang Yong
Keyword(s):  
Simulation Model ◽  
Simulation Analysis ◽  
Dynamic Performance ◽  
Theory Model ◽  
Structure Design ◽  
Side Plate ◽  
Jaw Crusher ◽  
Kinematics Simulation ◽  
Motion Characteristics ◽  
Dynamic Performance Analysis

In this paper, out-moving jaw crusher machine is regarded as the research object and we established the simulation model of virtual prototype based on Nastran. Through the simulation analysis of the movement process, trajectories of moving jaw side plate and a movable jaw toggle plate and related parameters were obtained and compared and verify the simulation model and theory model. The results show that: the simulation model reflects the motion characteristics of the theoretical model well. So it provides theoretical reference for improvement of dynamic performance analysis and structure design of jaw crusher and has important application value in engineering.

Inclined Links Hyper-Redundant Elephant Trunk-Like Robot

2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Oded Salomon ◽  
Alon Wolf
Keyword(s):  
Mechanism Design ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Forward Kinematics ◽  
Elephant Trunk ◽  
Redundant Robots ◽  
Wide Range ◽  
External Loads ◽  
Novel Design ◽  
Robotic Applications

Hyper-redundant robots (HRR) have many more degrees of freedom (DOF) than required, which enable them to handle more constraints, such as those present in highly convoluted volumes. Consequently, they can serve in many robotic applications, while extending the reachability and maneuverability of the operator. Many degrees of freedom that furnish the HRR with its wide range of capabilities also provide its major challenges: mechanism design, control, and path planning. In this paper, we present a novel design of a HRR composed of 16DOF. The HRR is composed of two concentric structures: a passive backbone and an exoskeleton which carries self-weight as well as external loads. The HRR is 80 cm long, 7.7 cm in diameter, achieves high rigidity and accuracy and is capable of 180 deg bending. The forward kinematics of the HRR is presented along with the inverse kinematics of a link.

Mathematical Model of Cam Profile Based on Heald Frame Motion Characteristics

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Honghuan Yin ◽  
Hongbin Yu ◽  
Junqiang Peng ◽  
Hongyu Shao
Keyword(s):  
Mathematical Model ◽  
Simulation Analysis ◽  
Kinematics Simulation ◽  
Movement Characteristics ◽  
Cam Profile ◽  
Motion Characteristics ◽  
Pitch Curve ◽  
Frame Motion ◽  
The Mathematical Model ◽  
The Given

In this paper, the transmission process of the heald frame driven by the dobby is analyzed. The equivalent motion model of the dobby modulator, the eccentric mechanism, and the motion transmission unit are constructed. Then, based on the given movement characteristics of the heald frame, the mathematical model is built to achieve the cam pitch curve and the cam profile of the modulator. The numerical solution method for this is developed. The preparation of a mathematical model for the new concept of the solving cam profile based on the motion characteristics of heald frames is explained in this study. By setting a 11th polynomial motion law of the heald frame, due to the inconsistency between the outward and return motion laws of the crank-rocker mechanism, an asymmetrical cam profile is obtained under the premise of ensuring that the heald frame’s ascending and descending motions are consistent. Through the kinematics simulation analysis, the correctness of the reverse process is verified.

Kinematics Simulation for the Baler's Locking Device Based on ADAMS

2013 ◽  
Vol 694-697 ◽  
pp. 100-104
Author(s):  
Ping Xu ◽  
Ming Cheng ◽  
Jun Liu ◽  
Xin Ping Xie
Keyword(s):  
Simulation Analysis ◽  
Reference Value ◽  
Joint Modeling ◽  
Power Input ◽  
Virtual Prototype ◽  
Optimized Design ◽  
Kinematics Analysis ◽  
Kinematics Simulation ◽  
Set Up ◽  
Solid Edge

By using Solid Edge, the virtual prototype of the steel stripe locking device of the baler can be set up. The kinematics analysis can be accomplished through ADAMS. According to this joint modeling method, the simulation of the parts of the power input and output are analyzed. According to this kinematics simulation analysis, the foundation for the mechanical optimized design of steel stripe locking device will be laid. By this joint virtual prototype simulation, complex virtual prototype mechanism design has a certain practical reference value.

Forward Kinematics Simulation Analysis of Slider-Crank Mechanism

2011 ◽  
Vol 308-310 ◽  
pp. 1855-1859 ◽  
Author(s):  
Yu Qian ◽  
Yi Cao ◽  
Yuan Wei Liu ◽  
Hui Zhou
Keyword(s):  
Mathematical Model ◽  
Simulation Analysis ◽  
Simulation Models ◽  
Forward Kinematics ◽  
Forward Displacement ◽  
Matlab Simulink ◽  
Simulink Simulation ◽  
Kinematics Simulation ◽  
Theoretical Results ◽  
Crank Mechanism

This paper mainly addressed the kinematics simulation of the Slider-Crank mechanism. After proposing a mathematical model for the forward displacement of the slider-crank mechanism, the mathematical models for the forward velocity and acceleration of the slider-crank mechanism are constructed, respectively and the simulation models for the forward kinematics of the slider-crank mechanism are constituted in the Matlab/Simulink simulation platform. Finally the forward kinematics simulation of the slider-crank mechanism was successfully accomplished based on Matlab/Simulink. Examples of the simulation for the forward kinematics of a slider-crank mechanism are given to demonstrate the above-mentioned theoretical results.

Theoretical Analysis of Mechanism Kinematics for Boom Crane of Marine Drilling Platform

2013 ◽  
Vol 433-435 ◽  
pp. 53-58
Author(s):  
Jun Qiang Li ◽  
Yong Peng ◽  
Wen Hui Yan
Keyword(s):  
Automatic Control ◽  
Theoretical Basis ◽  
Inverse Kinematics ◽  
Forward Kinematics ◽  
Structure And Motion ◽  
Mechanics Analysis ◽  
Engineering Significance ◽  
Motion Characteristics ◽  
Joint Coordinate System ◽  
Boom Crane

The boom crane of marine drilling platform is an important part of the automated pipe racking system. It has important engineering significance to study the kinematics of boom crane for the automatic control and accurate positioning. Using the method of robot mechanisms, the kinematics of mechanism for boom crane on marine drilling platform is discussed in this paper. According to the structure and motion characteristics of the boom crane, a special joint coordinate system is chosen. The kinematics model of the boom crane is established. The forward kinematics equations, inverse kinematics calculation formulas are derived. The correctness of formulas is verified by examples. The theoretical basis is provided for the movement automatic control and subsequent dynamics and boom crane mechanics analysis when considering the elastic deformation.

Kinematics Simulation of Industrial Robot Based on MATLAB

2011 ◽  
Vol 415-417 ◽  
pp. 690-696
Author(s):  
Han Ming Cai ◽  
Ting Ting Xing
Keyword(s):  
Inverse Kinematics ◽  
Industrial Robot ◽  
Transformation Method ◽  
Forward Kinematics ◽  
Robot Kinematics ◽  
Kinematics Simulation ◽  
Target Matrix ◽  
Six Dof ◽  
Coordinate Transformation Method ◽  
Robot Modeling

In this paper, we discussed the kinematics simulation of a six DOF (degree of freedom) industrial robot, modeling the robot with PRO/E. D-H coordinate transformation method is used to establish coordinates of robot kinematics mathematical model and the target matrix. The powerful symbolic computation of MATLAB functions is used to analyze the equation, and the inverse kinematics solution is obtained. The joint trajectory of the robot in the implementation of task and workspace are worked out through the forward kinematics solution.

Configuration Design and Simulation of Exoskeleton for Upper Limb Rehabilitation Train

2014 ◽  
Vol 701-702 ◽  
pp. 654-658 ◽  
Author(s):  
Yuan Zhang ◽  
Qiang Liu ◽  
Ji Liang Jiang ◽  
Li Yuan Zhang ◽  
Rui Rui Shen
Keyword(s):  
Upper Limb ◽  
Simulation Analysis ◽  
Motion Simulation ◽  
Upper Limb Rehabilitation ◽  
Motion Data ◽  
Upper Limb Exoskeleton ◽  
Movement Data ◽  
Kinematics Simulation ◽  
Motion Process ◽  
Limb Rehabilitation

A new upper limb exoskeleton mechanical structure for rehabilitation train and electric putters were used to drive the upper limb exoskeleton and kinematics simulation was carried. According to the characteristics of upper limb exoskeleton, program control and master - slave control two different ways were presented. Motion simulation analysis had been done by Pro/E Mechanism, the motion data of electric putter and major joints had been extracted. Based on the analysis of the movement data it can effectively guide the electric putter control and analysis upper limb exoskeleton motion process.

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