The Combined Simulation of High-Speed Parallel Manipulator Based on MATLAB, SolidWorks and ADAMS

2014 ◽  
Vol 716-717 ◽  
pp. 1578-1581
Author(s):  
Zhuo Zhen ◽  
Chao Ying Liu ◽  
Ying Kun Zhang ◽  
Cun Ming Hao
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Three Dimensional ◽  
Parallel Robot ◽  
Simulation Platform ◽  
Three Dimensional Model ◽  
Collaborative Simulation ◽  
Simulink Model ◽  
Combined Simulation ◽  
Rapid Modeling

This paper mainly focuses on the modeling and simulation of a three-DOF high-speed parallel robot which is widely used in the design of an enterprise vials testing equipment. For high-speed parallel manipulator rapid modeling and collaborative simulation, we study the two methods. One approach is to transfer the 3D SOLIDWORKS model into MATLAB/ SIMULINK model. Another method is to convert the three-dimensional model of SOLIDWORKS models into ADAMS. ADAMS and SIMULINK work together as a simulation platform. The results show that the two methods could provide the efficient and significant simulation platform to research the control strategy of High-speed parallel manipulator.

CFD Simulation of Particle Transport and Dispersion in Indoor Environment by Human Walking

2012 ◽  
Author(s):  
Iman Goldasteh ◽  
Goodarz Ahmadi ◽  
Andrea Ferro
Keyword(s):  
Particulate Matter ◽  
High Speed ◽  
Cfd Simulation ◽  
Three Dimensional ◽  
Study Data ◽  
Turbulent Dispersion ◽  
Experimental Chamber ◽  
Indoor Environments ◽  
Three Dimensional Model ◽  
Particle Resuspension

Particle resuspension is an important source of particulate matter in indoor environments that significantly affects the indoor air quality and could potentially have adverse effect on human health. Earlier efforts to investigate indoor particle resuspension hypothesized that high speed airflow generated at the floor level during the gate cycle is the main cause of particle resuspension. The resuspended particles are then assumed to be dispersed by the airflow in the room, which is impacted by both the ventilation and the occupant movement, leading to increased PM concentration. In this study, a three dimensional model of a room was developed using FLUENT™ CFD package. A RANS approach with the RNG k-ε turbulence model was used for simulating the airflow field in the room for different ventilation conditions. The trajectories of resuspended particulate matter were computed with a Lagrangian method by solving the equations of particle motion. The effect of turbulent dispersion was included with the use of the eddy lifetime model. The resuspension of particles due to gait cycle was estimated and included in the computational model. The dispersion and transport of particles resuspended from flooring as well as particle re-deposition on flooring and walls were simulated. Particle concentrations in the room generated by the resuspension process were evaluated and the results were compared with experimental chamber study data as well as simplified model predictions, and good agreement was found.

Analysis and Research of High Speed Milling of Thin-Walled Bracket Part Based on UG NX

2010 ◽  
Vol 129-131 ◽  
pp. 256-260
Author(s):  
Yi Shu Hao ◽  
Chuang Hai ◽  
Xin Xing Zhu
Keyword(s):  
High Speed ◽  
Three Dimensional ◽  
Structural Features ◽  
Milling Process ◽  
Analysis Method ◽  
Three Dimensional Model ◽  
Machining Processes ◽  
Element Analysis ◽  
High Speed Milling ◽  
Tool Paths

Treating high speed milling theory as the guidance, this paper researched high speed milling process of bracket part based on UG NX. Combined with the structural features of bracket part, three dimensional model is built by UG NX CAD and machining processes are worked out after analysis. UG CAM module was applied to fabricate tool paths. At last, finite element analysis method is introduced to study the processing deformation by UG NX NASTRAN module, based on which measures to restrain processing deformations is advanced and processing sequences are optimized.

Investigation of Dynamic Photoelasticity Based on a Three-Dimensional Model

2011 ◽  
Vol 83 ◽  
pp. 261-266
Author(s):  
Bin Li ◽  
Guo Biao Yang ◽  
Fan Ni ◽  
Qi Rong Zhu
Keyword(s):  
Boundary Conditions ◽  
High Speed ◽  
Three Dimensional ◽  
Green Laser ◽  
Structure Design ◽  
Dynamic Photoelasticity ◽  
Three Dimensional Model ◽  
Design And Optimization ◽  
True Value ◽  
Dimensional Models

Dynamic photoelasticity has been widely utilized to investigate the phenomena generated by impact loading. The dynamic parameters of structures, such as propagation of stress wave and stress concentration, are obtained through this method, which provide guidelines for structure design and optimization. In the previous studies, two-dimensional models are wildly used by researchers. In these models, the inaccuracy of the boundary conditions leads to error amplification during the conversion of the tested results into real ones. In this study of dynamic photoelasticity, three-dimensional models are used. An improved digital dynamic photoelastic system is also adopted to calculate elastic wave propagation in the medium, where the diode-pumped solid-state green laser and high-speed CCD are used as light source luminaries and recording system respectively. Based on these models, where the boundary conditions approach to true value, the resulting data are higher in resolution than is possible with other experimental techniques. This method has been adopted and tested successfully by generating better results with less amplification of errors.

Numerical Study of the Pusher-Type Billet Reheating Furnace

2005 ◽  
Author(s):  
Linjiang Zou ◽  
Chaoxiang Li ◽  
Yinmei Yuan ◽  
Wei Guo ◽  
Fan Yang ◽  
...  
Keyword(s):  
Software Package ◽  
High Speed ◽  
Gas Flow ◽  
Numerical Study ◽  
Three Dimensional ◽  
Cfd Model ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Iron And Steel ◽  
Reheating Furnace

In the present work, a commercial CFD software package, FLUENT, was used to develop a three-dimensional model of pusher-type billet reheating furnace for the second high speed wire rod plant of XiangTan Iron and steel Co. Ltd. The purpose of the study was to gain a better understanding of the gas flow and velocity and pressure distribution in the furnace. The results show that the numerical results are in agreement with the practice and the characteristics of the furnace configuration. The CFD model can be used to improve the performance and structure by analyzing and studying the behavior of the reheating furnace.

Influence Characteristics of Tool Vibration and Wear on Machined Surface Topography in High-Speed Milling

2014 ◽  
Vol 800-801 ◽  
pp. 585-589
Author(s):  
Bin Jiang ◽  
Guang Lei Cao ◽  
Ming Hui Zhang ◽  
Shou Zheng Sun ◽  
Xuan Chi Liu
Keyword(s):  
Tool Wear ◽  
Surface Topography ◽  
High Speed ◽  
Three Dimensional ◽  
Cutting Parameters ◽  
Three Dimensional Model ◽  
Machined Surface ◽  
Tool Vibration ◽  
Key Factor ◽  
Vibration Measuring

Existing research on machined surface topography, only consider its response to vibration or wear certain factors, both vibration and wear impact on machined surface topography exist ambiguity and uncertainty, it cannot solve the design conflicts of machined surface topography. For this, this paper analyzes blade installation error, tool wear, vibration and deformation to reveal effects of tip space trajectory, build a three-dimensional model of machined surface topography in simulation, extract its characteristic parameters, by simulation of different amplitudes and wear, found that axis amplitude is a key factor affecting surface residual height, flank wear affects contour distribution distance significantly, by specimen milling experiments, use vibration measuring instrument and ultra-depth microscopy to obtain vibration, wear characteristics and machined surface topography parameters under different cutting parameters, then use the gray system theory to get correlation analysis of the test data, results showed that the influence of tool wear on machined surface topography is prominent than tool vibration.

Dynamics of moving-object grasped by a hybrid hand

2021 ◽  
pp. 146441932110511
Author(s):  
Yi Lu ◽  
Zefeng Chang ◽  
Nijia Ye
Keyword(s):  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Hessian Matrix ◽  
Three Dimensional ◽  
Moving Object ◽  
Dimensional Model ◽  
Dynamics Model ◽  
Three Dimensional Model ◽  
Precision Grasping ◽  
General Velocity

When a heavy object is cooperatively grasped to move by several fingers of the robot hybrid hand, the inertial properties and the mass distribution of the object must influence largely on the operation precision, grasping stability, and the safety of both the hybrid hand and the object. Hence, it is an important and significant issue to establish and analyze the dynamics model of the moving-object cooperatively grasped by the hybrid hand in order to ensure the safety and grasping stability of the hybrid hand and the object. However, this research has not been conducted. In this paper, a dynamics model of the moving-object grasped by the hybrid hand is established, and its dynamics is studied and analyzed. First, a three-dimensional model of a hybrid hand formed by a novel parallel manipulator and three fingers is designed for cooperatively grasping object. Second, the kinematic formulas for solving the Jacobian matrices, the Hessian matrices, the general velocity/acceleration of the moving platform, and four active limbs of the parallel manipulator are derived. Third, the composite Jacobian matrix and the composite Hessian matrix of the hybrid hand are derived, and the general velocity/acceleration of the moving-object grasped by the hybrid hand is derived. Fourth, dynamics model of the hybrid hand is established, the formulas for solving the dynamic actuation forces of the three fingers and the dynamic actuation forces/torque and constrained forces of the parallel manipulator are derived. Finally, the theoretical solutions of the dynamics model of the moving-object grasped by the hybrid hand are verified by its simulation mechanism.

The Influence of Internal Friction on the Stability of High Speed Rotors With Anisotropic Supports

1969 ◽  
Vol 91 (4) ◽  
pp. 1105-1113 ◽  
Author(s):  
E. J. Gunter ◽  
P. R. Trumpler
Keyword(s):  
Internal Friction ◽  
High Speed ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
Analog Computer ◽  
Three Dimensional Model ◽  
Stiffness Properties ◽  
Stiffness Characteristics ◽  
The Stability ◽  
Internal Rotor

This paper evaluates the stability of the single mass rotor with internal friction on damped, anisotropic supports. The paper shows under what conditions the rotor stability may be improved by an undamped support with anisotropic stiffness properties. A three dimensional model is presented to show the influence of rotor and support stiffness characteristics on stability. Curves are also presented on how support damping may also improve or even reduce rotor stability. An analog computer solution of the governing equations of motion is presented showing the shaft transient motion for various speed ranges, and also plots of the rotor steady state motion are given for various speeds up to and including the stability threshold. The analysis is used to explain many of the experimental observations of B. L. Newkirk concerning stability due to internal rotor friction.

Kinematics and Singularity Analysis of the Hexaglide Parallel Robot

2008 ◽  
Author(s):  
Mansour Abtahi ◽  
Hodjat Pendar ◽  
Aria Alasty ◽  
Gholamreza Vossoughi
Keyword(s):  
Machine Tools ◽  
Parallel Manipulator ◽  
High Speed ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
The Past ◽  
Different Types ◽  
Forward Kinematic

In the past few years, parallel manipulators have become increasingly popular in industry, especially, in the field of machine tools. Hexaglide is a 6 DOF parallel manipulator that can be used as a high speed milling machine. In this paper, the kinematics and singularity of Hexaglide parallel manipulator are studied systematically. At first, this robot has been modeled and its inverse and forward kinematic problems have been solved. Then, formulas for solving inverse velocity are derived and Jacobian matrix is obtained. After that, three different types of singularity for this type of robot have been investigated. Finally a numerical example is presented.

Based on Pro/E High Speed Milling of Thin-Walled Stents of Research

2011 ◽  
Vol 295-297 ◽  
pp. 2487-2491
Author(s):  
Jian Qiang Wang
Keyword(s):  
High Speed ◽  
Three Dimensional ◽  
Structural Features ◽  
Milling Process ◽  
Analysis Method ◽  
Three Dimensional Model ◽  
Machining Processes ◽  
Element Analysis ◽  
High Speed Milling ◽  
Tool Paths

Treating high speed milling theory as the guidance, this paper researched high speed milling process of bracket part based on Pro/E. Combined with the structural features of bracket part, three dimensional model is built by Pro/E and machining processes are worked out after analysis. Pro/E module was applied to fabricate tool paths. At last, finite element analysis method is introduced to study the processing deformation by Pro/E module, based on which measures to restrain processing deformations is advanced and processing sequences are optimized.

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