Dynamic Characteristics Analysis of Simulator Six-DOF Platform

2014 ◽  
Vol 651-653 ◽  
pp. 716-719 ◽  
Author(s):  
Yong Qiu Liu ◽  
Ying Xin Zhai ◽  
Xiao Feng Liu
Keyword(s):  
Dynamic Characteristics ◽  
Degrees Of Freedom ◽  
Good Control ◽  
Control Effect ◽  
Motion Platform ◽  
Fuzzy Pid Control ◽  
Six Degrees Of Freedom ◽  
Characteristics Analysis ◽  
Six Dof ◽  
Six Degree Of Freedom

Six degrees of freedom motion platform is an important part of the flight simulator. To study the dynamic characteristics of the simulator, the paper carried a six degree of freedom motion platform dynamics analysis, and proposed fuzzy PID control strategy, and through the ADAMS software to establish a simulation model of six degrees of freedom motion platform, simulation results show that the use of strategy has good control effect for the simulator is designed to provide some reference.

scholarly journals Design and Calibration of a Hall Effect System for Measurement of Six-Degree-of-Freedom Motion within a Stacked Column

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3740
Author(s):  
Olafur Oddbjornsson ◽  
Panos Kloukinas ◽  
Tansu Gokce ◽  
Kate Bourne ◽  
Tony Horseman ◽  
...  
Keyword(s):  
Hall Effect ◽  
Degrees Of Freedom ◽  
Reactor Core ◽  
Degree Of Freedom ◽  
Life Extension ◽  
Scale Model ◽  
Design Development ◽  
Seismic Safety ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

This paper presents the design, development and evaluation of a unique non-contact instrumentation system that can accurately measure the interface displacement between two rigid components in six degrees of freedom. The system was developed to allow measurement of the relative displacements between interfaces within a stacked column of brick-like components, with an accuracy of 0.05 mm and 0.1 degrees. The columns comprised up to 14 components, with each component being a scale model of a graphite brick within an Advanced Gas-cooled Reactor core. A set of 585 of these columns makes up the Multi Layer Array, which was designed to investigate the response of the reactor core to seismic inputs, with excitation levels up to 1 g from 0 to 100 Hz. The nature of the application required a compact and robust design capable of accurately recording fully coupled motion in all six degrees of freedom during dynamic testing. The novel design implemented 12 Hall effect sensors with a calibration procedure based on system identification techniques. The measurement uncertainty was ±0.050 mm for displacement and ±0.052 degrees for rotation, and the system can tolerate loss of data from two sensors with the uncertainly increasing to only 0.061 mm in translation and 0.088 degrees in rotation. The system has been deployed in a research programme that has enabled EDF to present seismic safety cases to the Office for Nuclear Regulation, resulting in life extension approvals for several reactors. The measurement system developed could be readily applied to other situations where the imposed level of stress at the interface causes negligible material strain, and accurate non-contact six-degree-of-freedom interface measurement is required.

scholarly journals Research and training car driving simulator with weight up to 3.5 tons dedicated to physical disabled drivers

Mechanik ◽  
2019 ◽  
Vol 92 (8-9) ◽  
pp. 571-573
Author(s):  
Jarosław Jankowski
Keyword(s):  
Degrees Of Freedom ◽  
Driving Simulator ◽  
Physical Disabilities ◽  
Motion Platform ◽  
Six Degrees Of Freedom ◽  
Work Related ◽  
The Creation ◽  
People With Physical Disabilities ◽  
Car Driving ◽  
And Training

The article presents the continuation of work related to the creation of a car driving simulator with a weight of up to 3.5 tons adapted to selected disabilities. The article contains a description of the developed motion platform with six degrees of freedom and the cockpit. In order to ensure the possibility of being managed by the largest group of people with physical disabilities, selected support solutions were implemented. These devices can be easily dismantled to test others. The platform together with the cockpit is controlled from the simulator application and the image is presented to the simulation participant in 3D projection glasses and optionally on a three-segment screen.

General Mathematical Model of Multi-Arm Cooperating Robots With Elastic Interconnection at the Contact

1997 ◽  
Vol 119 (4) ◽  
pp. 707-717 ◽  
Author(s):  
Milovan Z˘ivanovic´ ◽  
Miomir Vukobratovic´
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Dynamic Environment ◽  
Six Degrees Of Freedom ◽  
General Mathematical Model ◽  
Cooperating Robots ◽  
Six Degree Of Freedom ◽  
Physical Phenomena ◽  
First Time ◽  
Object Dynamic

The procedure of modeling and the complete general form mathematical model of manipulators with six degrees of freedom in cooperative work are presented in the paper, together with the solution of undefiniteness problem with respect to force distribution. For the first time, a system of active spatial six-degree-of-freedom mechanisms elastically interconnected with the object (dynamic environment) is modeled. The reason for the emergence of the undefiniteness problem with respect to force is explained and the procedure for solving this problem given. Unlike the approaches given in the available literature, the undefiniteness problem with respect to force is solved in accordance with physical phenomena. The modeling procedure is illustrated by a simplified example.

The St. Petersburg Wrist: A Prototype Powered Flexion Wrist Unit

2008 ◽  
Author(s):  
Kathryn J. De Laurentis ◽  
Sam L. Phillips
Keyword(s):  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Six Degrees Of Freedom ◽  
Important Addition ◽  
Powered Prosthesis ◽  
Six Degree Of Freedom ◽  
Flexion And Extension

This is the presentation of a prototype wrist, which has powered rotation and flexion. Powered flexion is an important addition to an externally powered prosthesis. Flexion and extension, along with rotation give the prosthesis two additional degrees of freedom, which when added to degrees of freedom for the shoulder and elbow yield a six-degree of freedom system. Six-degrees of freedom are important because they allow placement of the hand throughout the entire workspace. Without flexion, amputees cannot reach some positions, and must use compensatory motions for many other movements.

scholarly journals In-situ measurement technologies for flow behaviour and contact status of fibre-reinforced thermoplastics during forming with a six degree of freedom press

2018 ◽  
Vol 190 ◽  
pp. 07004
Author(s):  
Birk Wonnenberg ◽  
Franz Dietrich ◽  
Klaus Dröder
Keyword(s):  
Degrees Of Freedom ◽  
Optical Measurements ◽  
Image Processing Algorithm ◽  
Forming Process ◽  
Contact State ◽  
Six Degrees Of Freedom ◽  
Reinforced Plastics ◽  
Reinforced Thermoplastics ◽  
Six Degree Of Freedom

The paper presents investigations on a forming process, which is implemented in a forming press based on a Stewart platform. In contrast to common forming techniques, this buildup offers not only one but six degrees of freedom. This is of particular interest when it comes to the forming of materials that show significant anisotropic behaviour such as fibre-reinforced plastics. Therefore, an experimental setup is presented to record characteristic variables during the forming process of fibre-reinforced thermoplastics. The contact state is of particular interest for this kind of forming process because it changes continuously in shape and position as the forming process progresses. For this purpose, temperatures at different places in the tool are recorded to provide information about the flow velocity of the material and the contact state between tool and workpiece. This allows the determination of the exact time and position of the contact between material and forming tool as well as the duration of this contact. The results are compared with optical measurements analysed by image processing algorithm and process forces measured by load cells.

Dynamics Simulation of a Six-DOF Tunnel Segment Erector for Tunnel Boring Machine Based on Virtual Prototype

2012 ◽  
Vol 251 ◽  
pp. 231-234
Author(s):  
Gang Li ◽  
Ya Dong Chen ◽  
Bo Wang ◽  
Wan Shan Wang
Keyword(s):  
Degrees Of Freedom ◽  
Tunnel Boring Machine ◽  
Virtual Prototype ◽  
Dynamics Simulation ◽  
Design Parameters ◽  
Six Degrees Of Freedom ◽  
Tunnel Boring ◽  
Six Dof ◽  
Freedom Movement ◽  
Segment Erector

In this paper, we present the modeling and dynamics simulation of a six-DOF tunnel segment erector for tunnel boring machine (TBM), which is performed in the virtual prototype platform. The 3D virtual assembling model of a tunnel segment erector is built based on Pro/E software according to its design parameters such as structure and size. After the interference inspection, the model is imported into ADAMS through the interface module of Mech/Pro. The model is simplified and optimized reasonably and various constraints are applied under variety working conditions. The results of simulation show that the design has six degrees of freedom movement capacity which meets the design requirements. At the same time the dynamics characteristics of drives and the forces of each part are obtained and they will provide a boundary condition for strength check and basis for the power system design which is important for the further optimal design.

A Six-Degree-of-Freedom Test System for the Study of Joint Mechanics and Ligament Forces

1995 ◽  
Vol 117 (4) ◽  
pp. 383-389 ◽  
Author(s):  
J. M. Hollis
Keyword(s):  
Degrees Of Freedom ◽  
Test System ◽  
Testing System ◽  
Joint Mechanics ◽  
Six Degrees Of Freedom ◽  
Position Feedback ◽  
Six Degree Of Freedom ◽  
Good Agreement

A joint testing system was designed to transmit a specified motion or force to a joint in all six degrees of freedom (d.o.f.) using a spatial linkage system for position feedback. The precise reproducibility of position provided by this method of position feedback allows determination of in situ ligament forces for external joint loadings. Load on the structure of interest is calculated from six d.o.f. load cell output after the loaded position is reproduced with all other structures removed. In a test of this system, measured loads showed good agreement with applied loads.

General inverse solution of six-degrees-of-freedom serial robots based on the product of exponentials model

2018 ◽  
Vol 38 (3) ◽  
pp. 361-367 ◽  
Author(s):  
Haixia Wang ◽  
Xiao Lu ◽  
Wei Cui ◽  
Zhiguo Zhang ◽  
Yuxia Li ◽  
...  
Keyword(s):  
Design Methodology ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Complex Problem ◽  
Content Type ◽  
Geometrical Properties ◽  
Closed Form Solutions ◽  
Six Degrees Of Freedom ◽  
Serial Robots ◽  
Six Dof

Purpose Developing general closed-form solutions for six-degrees-of-freedom (DOF) serial robots is a significant challenge. This paper thus aims to present a general solution for six-DOF robots based on the product of exponentials model, which adapts to a class of robots satisfying the Pieper criterion with two parallel or intersecting axes among its first three axes. Design/methodology/approach The proposed solution can be represented as uniform expressions by using geometrical properties and a modified Paden–Kahan sub-problem, which mainly adopts the screw theory. Findings A simulation and experiments validated the correctness and effectiveness of the proposed method (general resolution for six-DOF robots based on the product of exponentials model). Originality/value The Rodrigues rotation formula is additionally used to turn the complex problem into a solvable trigonometric function and uniformly express six solutions using two formulas.

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