Trajectory Planning of Wire-Driven Parallel Manipulator Based on Influence Coefficient Method

2010 ◽  
Vol 143-144 ◽  
pp. 313-317
Author(s):  
Yi Cao ◽  
Xuan Yao Wang ◽  
Hui Zhou ◽  
Shen Long ◽  
Meng Si Liu
Keyword(s):  
Trajectory Planning ◽  
Parallel Manipulator ◽  
Angular Acceleration ◽  
Influence Coefficient ◽  
Influence Coefficient Method ◽  
Planning Algorithm ◽  
Moving Platform ◽  
Orientation Parameters ◽  
Orientation Workspace ◽  
Coefficient Method

The dynamic model of a 6-DOF wire-driven parallel manipulator is established, based on influence coefficient method for wire-driven parallel manipulator trajectory planning algorithm is proposed, the orientation parameters by Euler angles of moving platform of time first-order and second-order derivative which is not a moving platform angular velocity and angular acceleration is verified. For the moving platform position and orientation workspace trajectory planning, the kinematic characteristics of wires are discussed. The simulation results show that the tension of the wires are always greater than 0, the expressions of velocity, acceleration and tension of wires are exceptionally clear and simple. Also, the method of trajectory planning proposed is suitable for general 6-DOF wire-driven parallel manipulator.

Research on Dynamics of a Three-DOF Parallel Manipulator for Levelling Mechanism

2013 ◽  
Vol 774-776 ◽  
pp. 1369-1374 ◽  
Author(s):  
Hong Jun Yang
Keyword(s):  
Parallel Manipulator ◽  
Coefficient Matrix ◽  
Dynamics Simulation ◽  
Dynamic Equations ◽  
Control System Design ◽  
Influence Coefficient ◽  
Lagrange Method ◽  
First Order ◽  
Influence Coefficient Method ◽  
Coefficient Method

A three-DOF parallel manipulator with two rotations and one translation was put forward as a levelling mechanism in this paper. Its structure and kinematics were analyzed and the first-order influence coefficient matrix was obtained by using the influence coefficient method. Then the complete and concise dynamic equations without too many unknowns were established based on Lagrange method. In addition, the dynamics simulation was carried out and the result shows that drive forces of the legs have no strong coupling, which is important to control system design.

Kinematics Simulation of a Tripod Parallel Universal Wrist

2009 ◽  
Vol 407-408 ◽  
pp. 146-149
Author(s):  
Ping Zou ◽  
Guang Lei Wu ◽  
Xu Lei Yang
Keyword(s):  
Inverse Kinematics ◽  
Initial Conditions ◽  
Influence Coefficient ◽  
Schematic Diagram ◽  
Kinematics Model ◽  
Structure Characteristics ◽  
Kinematics Simulation ◽  
Influence Coefficient Method ◽  
Moving Platform ◽  
Coefficient Method

The prototype of a new 3-DOF tripod parallel universal wrist was developed. Its structure, characteristics and applications were introduced. The inverse kinematics model was established by the vector and kinematics influence coefficient method. The schematic diagram of simulation was established through the software — MATLAB/Simulink. Based on the above model and diagram, the inverse kinematics simulation was made. The simulation curves under different initial conditions about angle, acceleration, velocity, displacement varying as time processed can intuitively reflect the kinematic relation between the parallel bars and the moving platform of this mechanism and this is valuable and significative for the further research.

Control Strategy and Trajectory Planning for Reconfiguration of a vA Based Metamorphic Parallel Manipulator

2013 ◽  
Author(s):  
Evangelos Emmanouil ◽  
Ketao Zhang ◽  
Jian S. Dai
Keyword(s):  
Phase Change ◽  
Trajectory Planning ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
Redundant Actuation ◽  
Planning Algorithm ◽  
Source Phase

Mechanisms with reconfigurability have become a trend in development of multi-functional robots which can adapt to unexpected environments and perform complicated tasks. This paper presents a novel metamorphic parallel manipulator with the ability to change its mobility through the phase change of a variable-axis (vA) joint integrated in each limb. The platform has 6 DOFs in the source phase and can reconfigure its mobility to 5, 4 and 3 resorting to redundant actuation. This leads to reconfigurability and multi-functionality of the parallel manipulator characterized by the mobility configuration variation. A control strategy and a trajectory planning algorithm for reconfiguring the mobility configuration of the manipulator are proposed and simulations are carried out to identify a proper way of reconfiguration.

Influence Coefficients Obtained by Hammer Beat Permit Significant Time Savings When Balancing Simple Flexible Rotors

1999 ◽  
Author(s):  
D. Wiese ◽  
M. Breitwieser
Keyword(s):  
Influence Coefficient ◽  
Significant Time ◽  
Flexible Rotors ◽  
Influence Coefficients ◽  
Flexible Roll ◽  
Influence Coefficient Method ◽  
Time Savings ◽  
Positive Results ◽  
Coefficient Method

Abstract The following paper presents a method for balancing simple flexible rotors with the help of influence coefficients obtained by hammer beat. The method permits time savings of approx. 50% compared to the conventional influence coefficient method. Initial positive results obtained on a flexible roll are also presented.

Prototype design and size optimization of a hybrid lower extremity exoskeleton with a scissor mechanism for load-carrying augmentation

2014 ◽  
Vol 229 (1) ◽  
pp. 155-167 ◽  
Author(s):  
Yunjie Miao ◽  
Feng Gao ◽  
Dalei Pan
Keyword(s):  
Lower Extremity ◽  
Influence Coefficient ◽  
Input And Output ◽  
Flexion Extension ◽  
Load Carrying ◽  
Influence Coefficient Method ◽  
Prototype Design ◽  
Coefficient Method ◽  
Length Optimization ◽  
Scissor Mechanism

A hybrid lower extremity exoskeleton SJTU-EX which adopts a scissor mechanism as the hip and knee flexion/extension joint is proposed in Shanghai Jiao Tong University to augment load carrying for walking. The load supporting capabilities of a traditional serially connected mechanism and the scissor mechanism are compared in detail. The kinematic influence coefficient method of the kinematic and dynamic analysis is applied in the length optimization of the scissor sides to minimize the transmitting errors between the input and output motions in walking and the load capacities of different scissor mechanisms are illustrated. The optimization results are then verified by the walking simulations. Finally, the prototype of SJTU-EX is implemented with several improvements to enhance the working performances.

Study on an Intelligent Teaching Dynamic Balance Technology

2013 ◽  
Vol 483 ◽  
pp. 174-176 ◽  
Author(s):  
Shu Ping Cai ◽  
Ting Zhao
Keyword(s):  
Dynamic Balance ◽  
Far Infrared ◽  
Test System ◽  
Influence Coefficient ◽  
Dynamic Balancing ◽  
Influence Coefficient Method ◽  
Sensitive Sensor ◽  
Phase Sensor ◽  
Electric Measuring ◽  
Coefficient Method

Abstract:.:Intelligent teaching Dynamic balancing is a new kind of dynamic balancing test system with various functions of teaching need. It integrates the hard bearing method using A, B, C size solution with soft bearing method using the influence coefficient method solution. The system is mainly composed of machine frame, intelligent electric measuring box, high sensitive sensor and far infrared phase sensor. It has the advantages of small volume, simple operation, security with low speed，reliable and convenient operation for students. It can deepen students' understanding of balancing knowledge, which has won the national utility model patent.

Analysis and Control of the 1st Order Interior Noise and Vibration Induced by Driveline Imbalance for 4WD Vehicle

2016 ◽  
Author(s):  
Yuanfeng Xia ◽  
Jian Pang ◽  
Rui Liu ◽  
Wenjuan Li ◽  
Jianchun Xu
Keyword(s):  
The Body ◽  
Influence Coefficient ◽  
Vehicle Interior ◽  
Single Plane ◽  
Acoustic Cavity ◽  
Testing Method ◽  
Sensitivity Theory ◽  
Influence Coefficient Method ◽  
And Control ◽  
Coefficient Method

Based on the influence coefficient method of the single-plane and multi-plane imbalance, an experimental method of a 4WD driveline system imbalance is proposed. A sensitivity theory and a testing method of influence of the 4WD driveline system imbalance on the vehicle interior 1st order vibration and noise are proposed. According to the influence coefficient method of the single plane, this paper puts forward an imbalance separation method for the driveline components, especially the imbalance separation between the driveshaft and the axle. Based on the problems and phenomena of the 1st order interior vibration and noise induced by the driveline imbalance transferring through the body floor and the interior acoustic cavity, the driveline imbalance sensitivity, the dynamic imbalance of the driveshaft and the driveline system are analyzed separately. Finally, the control methods of the dynamic imbalance and sensitivity of the 4WD vehicle driveline system are provided.

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