Research on Optimizing Numerical Calculation of Posture Equations Based on Six DOF Stewart Platform

2014 ◽  
Vol 686 ◽  
pp. 549-553
Author(s):  
Yin Mu Wei
Keyword(s):  
Numerical Calculation ◽  
Numerical Method ◽  
Positive Solution ◽  
Parallel Mechanism ◽  
Solution Method ◽  
Paper Study ◽  
Kinematics Model ◽  
Six Dof ◽  
Simulation Results ◽  
Position Solution

The paper study position positive solution method based on 6-TPS parallel mechanism, and establish general kinematics model of 6-TPS parallel mechanism, gives the numerical method of positive solution based on a kind of position, deduced the forward position solution iteration format, and use MATLAB for the 6-TPS parallel mechanism kinematics to simulation, results show that solving program has stability, fast, effective.

Error Modeling and Simulation of Serial-Parallel Mechanism Based on Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 156-161 ◽  
Author(s):  
Sheng Hai Hu ◽  
Xiu Lian Liu ◽  
Jun Chao Sun ◽  
Ting Ting Xie ◽  
Song Qi
Keyword(s):  
Numerical Calculation ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Rigid Motion ◽  
Error Modeling ◽  
Cutting Machine ◽  
Joint Axis ◽  
Comparison Results ◽  
Calculation Results ◽  
Simulation Results

Focus on the problems of calculation complexity and abstractness in the traditional analysis methods of serial-parallel mechanism, the complete kinematic product of exponentials formula of serial-parallel mechanism was established in the paper based on the screw representation of spatial rigid motion. The errors of 4 D-H parameters were equivalent to error screw and the practical screw coordinate containing error screw of every joint axis was established. After the practical kinematic product of exponentials formula of serial-parallel mechanism being derived, the pose error model of tool coordinate system was established. According to the above screw method, numerical calculation of cutting machine about kinematic and error analysis was performed with MATLAB and the calculation results were compared with the simulation results of ADAMS. The comparison results show that relative error of the two groups of calculation results is within the 0.001 orders of magnitude and the correctness of screw methods application in the analysis of serial-parallel mechanism.

The slider motion error analysis by positive solution method in parallel mechanism

2016 ◽  
Author(s):  
Xiaoqing Ma ◽  
Lisong Zhang ◽  
Liang Zhu ◽  
Wenguo Yang ◽  
Penghao Hu
Keyword(s):  
Error Analysis ◽  
Positive Solution ◽  
Parallel Mechanism ◽  
Solution Method ◽  
Motion Error ◽  
Slider Motion

Forward and Inverse Position Solution Analysis of 2UPR/1SPR 3-DOF Parallel Mechanism

2012 ◽  
Vol 605-607 ◽  
pp. 1573-1576
Author(s):  
Hong Jun San ◽  
Yuan Ming Wang ◽  
Jian Xiong Liu
Keyword(s):  
Numerical Method ◽  
Analytical Method ◽  
Parallel Mechanism ◽  
Structural Constraint ◽  
Moving Platform ◽  
Position Solution

In this paper, forward and inverse position solution are analyzed for a novel 2UPR/1SPR special 3-DOF parallel mechanism. The moving platform of this mechanism have 1 translational DOF and 2 rotational DOFs. The inverse position solution of this mechanism was deduced by analytical method. The decoupling equation of position and posture parameters are formulated on the basis of structural constraint of the concerned mechanism. The forward position solution of this mechanism is achieved by numerical method.

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 REPRODUCTION ANALYSIS OF HUMAN DRIFTING BEHAVIOR DURING TSUNAMI USING NUMERICAL CALCULATION

2020 ◽  
pp. 34
Author(s):  
Riko Morita ◽  
Taro Arikawa
Keyword(s):  
Numerical Calculation ◽  
Wave Height ◽  
Prediction Method ◽  
Great East Japan Earthquake ◽  
Numerical Calculations ◽  
Water Tank ◽  
Maximum Wave Height ◽  
Hydraulic Experiment ◽  
Secondary Damage ◽  
Simulation Results

Along with the 2011 Great East Japan Earthquake (Mw 9.0), a huge tsunami exceeding a maximum wave height of 15 m occurred. Many people and objects were destroyed and drifted by the tsunami. In addition, these debris were transported to various places that could not be predicted, resulting in significant secondary damage and increase in the number of missing. Therefore, in order to reduce the amount of damage, it is important to predict the behavior and landing points of person after set adrift in a tsunami. The best way to increase the rescue rate is to predict in advance the area that people will be drifted, and prioritize searching operations at that area. Although there has been considerable number of studies which handle the drifting behavior of containers and ships (e.g., Kaida et al., 2016), the prediction of drifting areas focusing on people has not been conducted. Moreover, a drifting area prediction method has not yet been established. The purpose of this study is to conduct a hydraulic experiment using a flat water tank, and observe the drifting area of the drifting object. Then, we conducted numerical calculations and compared simulation results with the experimental ones.Recorded Presentation from the vICCE (YouTube Link): https://youtu.be/1yhKuodhCbg

scholarly journals Experiments and numerical calculation to determine aerodynamic characteristics of flows around 3D wings

2014 ◽  
Vol 36 (2) ◽  
pp. 133-143 ◽  
Author(s):  
Nguyen Hong Son ◽  
Hoang Thi Bich Ngoc ◽  
Dinh Van Phong ◽  
Nguyen Manh Hung
Keyword(s):  
Numerical Calculation ◽  
Wind Tunnel ◽  
Pressure Distribution ◽  
Numerical Method ◽  
Aerodynamic Characteristics ◽  
Numerical Results ◽  
Computational Method ◽  
Wing Surface ◽  
Thickness Profile

The report presents method and results of experiments in wind tunnel to determine aerodynamic characteristics of 3D wings by measuring pressure distribution on the wing surfaces. Simultaneously, a numerical method by using sources and doublets distributed on panel elements of wing surface also is carried out to calculate flows around 3D wings. This computational method allows solving inviscid problems for wings with thickness profile. The experimental and numerical results are compared to each other to verify the built program that permits to extend the range of applications with the variation of wing profiles, wing planforms, and incidence angles.

Trajectory Optimization and Simulation of Aerospace Robotic Arm

2013 ◽  
Vol 655-657 ◽  
pp. 1057-1060
Author(s):  
Li Jun Zong ◽  
Guang Kuo Wang ◽  
Xin Li ◽  
Lei Wang ◽  
Xiao Min Zhang ◽  
...  
Keyword(s):  
Trajectory Optimization ◽  
Inverse Kinematics ◽  
Aerospace Engineering ◽  
Robotic Arm ◽  
Robotic Arms ◽  
Kinematics Model ◽  
Six Dof ◽  
Optimization And Simulation ◽  
Vehicle Activity

Aerospace robotic arms have important applications in aerospace engineering (capture satellite, develop the technology of extra-vehicle activity (EVA), etc.) This paper first introduces the development and background of the Aerospace Robotic Arm. In later sections, a kinematics model of a Six-DOF manipulator is built based on DenavitHartenberg(D-H) method, then, the paper discusses an inverse kinematics solving method of the manipulator. At last, we show the simulation by integrating the use of SolidWorks, Matlab, and a number of their modules.

scholarly journals Timetable Design for Urban Rail Line with Capacity Constraints

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Yu-Ting Zhu ◽  
Bao-Hua Mao ◽  
Lu Liu ◽  
Ming-Gao Li
Keyword(s):  
Solution Method ◽  
Operating Cost ◽  
Capacity Constraints ◽  
Scheduling Model ◽  
Urban Rail ◽  
Proposed Model ◽  
Rail Line ◽  
First Come First Serve ◽  
Waiting Cost ◽  
Simulation Results

To design an efficient and economical timetable for a heavily congested urban rail corridor, a scheduling model is proposed in this paper. The objective of the proposed model is to find the departure time of trains at the start terminal to minimize the system cost, which includes passenger waiting cost and operating cost. To evaluate the performance of the timetable, a simulation model is developed to simulate the detailed movements of passengers and trains with strict constraints of station and train capacities. It assumes that passengers who arrive early will have more chances to access a station and board a train. The accessing and boarding processes of passengers are all based on a first-come-first-serve basis. When a station is full, passengers unable to access must wait outside until the number of waiting passengers at platform falls below a given value. When a train is full, passengers unable to board must wait at the platform for the next train to arrive. Then, based on the simulation results, a two-stage genetic algorithm is introduced to find the best timetable. Finally, a numerical example is given to demonstrate the effectiveness of the proposed model and solution method.

A Numerical Method for Mean Drift Forces Acting on a 3-D Body Under Wave and Current

1997 ◽  
Vol 41 (02) ◽  
pp. 108-117
Author(s):  
Tzung-hang Lee ◽  
Bo-qi Sun
Keyword(s):  
Numerical Calculation ◽  
Green Function ◽  
Numerical Method ◽  
Present Method ◽  
Small Amplitude ◽  
Correction Term ◽  
Current Speed ◽  
Forward Speed ◽  
The Green Function ◽  
Drift Forces

Under the assumptions of potential theory, small-amplitude motion, small steady disturbance and low current speed, the problem is simplified and then a form of Green function of the simplified equation is derived. For ease of numerical calculation, following the idea of Huijsmans & Hermans (1985), the Green function is expended into an oscillating source G0 at zero forward speed and a correction term G1 to take into account low forward speed. Then the expressions for G0 and G1 are derived. It is shown that these expressions have good numerical calculation performance. To test the present method, it is applied to a hemisphere and a half submerged ellipsoid.

A Novel Trans-Scale Precision Positioning Stage Based on the Stick-Slip Effect

2012 ◽  
Vol 2 (2) ◽  
pp. 1-14 ◽  
Author(s):  
Bowen Zhong ◽  
Liguo Chen ◽  
Zhenhua Wang ◽  
Lining Sun
Keyword(s):  
Friction Model ◽  
Slip Effect ◽  
Precision Positioning ◽  
Stick Slip ◽  
Kinematics Model ◽  
Lugre Friction Model ◽  
Positioning Stage ◽  
Simulation Results ◽  
Relationship Of ◽  
The Relationship

This article focuses on developing a novel trans-scale precision positioning stage based on the stick-slip effect. The stick-slip effect is introduced and the rigid kinematics model of the stick-slip driving is established. The forward and return displacement equations of each step of the stick-slip driving are deduced. The relationship of return displacement and the acceleration produced by friction are obtained according to displacement equations. Combining with LuGre friction model, the flexible dynamics model of the stick-slip driving is established and simulated by using Simulink software. Simulation results show that the backward displacement will reduce with the acceleration of the slider produced by dynamic friction force, the rigid kinematics model is also verified by simulation results which are explained in further detail in the article.

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