Kinematics Analysis of 6-DOF Transportation Vibration Platform

2011 ◽  
Vol 199-200 ◽  
pp. 1419-1422 ◽  
Author(s):  
Yan Zhu ◽  
Shi Shun Zhu ◽  
Guo Jun Wang ◽  
Xu Gang Liu
Keyword(s):  
System Dynamics ◽  
Trajectory Planning ◽  
Dynamics Analysis ◽  
Motion Trajectory ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Moving Platform ◽  
Motion Parameters ◽  
Position And Orientation

Based on the principle of Space Mechanism, the kinematics model of 6-DOF transportation vibration platform is described, and system kinematics analysis and calculation are finished. With an example, the displacement of actuator is solved according to the position and orientation of moving platform. The kinematics analysis is the basis of deciding system motion parameters, motion trajectory planning and system dynamics analysis.

scholarly journals Kinematics Simulation of Gough-Stewart Parallel Manipulator by Using Simulink Package in Matlab Software

2019 ◽  
Vol 27 (2) ◽  
pp. 10-20
Author(s):  
Hassan Mohammed Alwan ◽  
Riyadh Ahmed Sarhan
Keyword(s):  
Theoretical Model ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
Matlab Software ◽  
Kinematics Simulation ◽  
Moving Platform ◽  
Position And Orientation ◽  
Six Degree Of Freedom ◽  
Forward Equations

The Gough Stewart Robotic manipulator is a parallel manipulator with six-degree of freedom, which has six equations of Kinematics (Inverse and forward), with six variables (Lengths, Position, and Orientation). In this work derived the inverse equations, which used to compute the lengths of the linkages and its changes depended on the position and orientation of the platform's center, then derived the forward equations to calculate the position and orientation of the moving platform in terms of the lengths. This theoretical model of the kinematics analysis of the Gough Stewart has been built into the Simulink package in Matlab to obtain the lengths, position, and orientation for the manipulator at any time of motion. The input parameters (Position and Orientation) in inverse blocks compared with the output parameters (Position and Orientation) in the forward blocks, which show good results.

Trajectory planning of a 4-RR(SS)2 high-speed parallel robot

Robotica ◽  
2022 ◽  
pp. 1-17
Author(s):  
Huipu Zhang ◽  
Manxin Wang ◽  
Haibin Lai ◽  
Junpeng Huang
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
High Speed ◽  
Movement Time ◽  
Parallel Robot ◽  
Acceleration And Deceleration ◽  
Moving Platform ◽  
Motion Parameters ◽  
Trajectory Interpolation ◽  
The Right

Abstract The trajectory-planning method for a novel 4-degree-of-freedom high-speed parallel robot is studied herein. The robot’s motion mechanism adopts RR(SS)2 as branch chains and has a single moving platform structure. Compared with a double moving platform structure, the proposed parallel robot has better acceleration and deceleration performance since the mass of its moving platform is lighter. An inverse kinematics model of the mechanism is established, and the corresponding relationship between the motion parameters of the end-moving platform and the active arm with three end-motion laws is obtained, followed by the optimization of the motion laws by considering the motion laws’ duration and stability. A Lamé curve is used to transition the right-angled part of the traditional gate trajectory, and the parameters of the Lamé curve are optimized to achieve the shortest movement time and minimum acceleration peak. A method for solving Lamé curve trajectory interpolation points based on deduplication optimization is proposed, and a grasping frequency experiment is conducted on a robot prototype. Results show that the grasping frequency of the optimized Lamé curve prototype can be increased to 147 times/min, and its work efficiency is 54.7% higher than that obtained using the traditional Adept gate-shaped trajectory.

Kinematics Simulation of Parallel Mechanism Based on ADAMS

2012 ◽  
Vol 538-541 ◽  
pp. 479-482
Author(s):  
Xin Yu Du ◽  
Hong Wei Liu
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Virtual Prototype ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
Kinematics Simulation ◽  
Spatial Parallel Mechanism ◽  
Moving Platform ◽  
Simulation Results ◽  
Position And Orientation

In this paper,a kind of 3-UPU spatial parallel mechanism is introduced. Through deep analysis of the degree-of-freedom (DoF) for the platform using screw theory， the position and orientation of the moving platform is discussed. At last, the 3D virtual prototype modeling of this 3-UPU parallel mechanism based on software ADAMS is developed; the kinematics simulation and analysis are also carried out accordingly. From the simulation results, we can see that the proposed calculation of the DoFs and kinematics analysis is correct.

scholarly journals Kinematics Analysis of a Novel Five-Degree-of-Freedom Spatial Parallel Micromanipulator

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Daniel Prusak ◽  
Konrad Kobus ◽  
Grzegorz Karpiel
Keyword(s):  
Mathematical Model ◽  
Piezoelectric Actuator ◽  
Analytical Solutions ◽  
Inverse Kinematics ◽  
Geometrical Model ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
Moving Platform ◽  
Position And Orientation ◽  
The Mathematical Model

A study of the inverse kinematics for a five-degree-of-freedom (DOF) spatial parallel micromanipulator is presented here below. The objective of this paper is the introduction of a structural and geometrical model of a novel five-degree-of-freedom spatial parallel micromanipulator, analysis of the effective and useful workspace of the micromechanism, presentation of the obtained analytical solutions of the microrobot’s inverse kinematics tasks, and verification of its correctness using selected computer programs and computation environments. The mathematical model presented in this paper describes the behaviour of individual elements for the applied 2-DOF novel piezoelectric actuator, resulting from the position and orientation of the microrobot’s moving platform.

An Application of System Dynamics Analysis to Ecosystem Management at the Poinsett Weapons Range, Shaw AFB SC

1997 ◽  
Author(s):  
M. Brennan ◽  
P. Colborn ◽  
J. Goodbody ◽  
T. Grady ◽  
S. Kearney
Keyword(s):  
System Dynamics ◽  
Ecosystem Management ◽  
Dynamics Analysis

scholarly journals System Dynamics Analysis of Man-Machine Efficacy in Plateau Mines

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 18072-18084
Author(s):  
Duiming Guo ◽  
Guoqing Li ◽  
Nailian Hu ◽  
Jie Hou
Keyword(s):  
System Dynamics ◽  
Dynamics Analysis

scholarly journals System dynamics analysis for the governance measures against container port congestion

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Bowei Xu ◽  
Junjun Li ◽  
Xiaoyan Liu ◽  
Yongsheng Yang
Keyword(s):  
System Dynamics ◽  
Dynamics Analysis ◽  
Container Port ◽  
Port Congestion
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