Design of the Rehabilitative Apparatus for Ankle Joint Based on Parallel Mechanism and EMC2

This paper adopts parallel mechanism to replace the traditional unarmed or simple mechanical device to offer better rehabilitative training on human body ankle joint, which can medically meet the demands of proceeding various training of motor rehabilitation on the ankle joint with an excellent application prospect. The design of the control system adopts t ier to operate and control. It can meet the various training requirements of users such as slow, continuous and reciprocating motion, and it can also design personalized training program based on the users’ own condition. He open-EMC2 which makes it easy.

Download Full-text

Research on Coordinated Simulation of Marine Parallel Stable Platform Based on Adams and Matlab

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.740.146 ◽

2013 ◽

Vol 740 ◽

pp. 146-151

Author(s):

Bin Cheng Li ◽

Xiao Fan Li

Keyword(s):

Control System ◽

Dynamic Analysis ◽

System Design ◽

Mechanical System ◽

Parallel Mechanism ◽

Driving System ◽

Design And Optimization ◽

Fundamental Knowledge ◽

Hydraulic Cylinders ◽

And Control

In the paper, parallel mechanism is applied to Marine stable platform field. The integrated model,which consists of mechanical system, hydraulic driving system and control system, is established by the software of dynamic analysis of mechanical system (Adams) and Matlab/Simulink. The simulation result shows the decent capability of hydraulic cylinders length tracking, however further improvement can be made. This research provides valuable and fundamental knowledge for the system design and optimization.

Download Full-text

Composite Elbow Winding Machine Applied Teaching and Playback Method

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.183-185.2249 ◽

2011 ◽

Vol 183-185 ◽

pp. 2249-2253 ◽

Cited By ~ 1

Author(s):

Jia Zhong Xu ◽

Ming Qiao ◽

Li Yong Zhang ◽

Dan Liu

Keyword(s):

Control System ◽

Industrial Application ◽

Control Method ◽

Reciprocating Motion ◽

Teaching Mode ◽

Mechanical Structure ◽

Working Principle ◽

Winding Machine ◽

Rotation Motion ◽

And Control

Multi-axis winding machine can realize automatic winding of composite elbow, but its mechanical structure and control system is complex, which restricts its industrial application. In this paper, two-axis FRP elbow winding machine applied teaching and playback method is designed, which accomplish the winding of elbow by controlling the rotation motion of the mandrel and the reciprocating motion of the carriage along a semicircular track. In teaching mode, the positions of spindle and carriage are collected and stored as teaching document when the spindle rotates a certain angle, while in playback mode the control method of electronic cam is applied to realize the playback winding. The mechanical structure and the working principle of elbow winding machine are introduced, and the control system of winding machine is analyzed. It is proved that the system is stable, and it can wind certain type of composite elbows.

Download Full-text

Dynamic Analysis and Control Research of a 3-DOF Hydraulic Driven Parallel Mechanism

Recent Patents on Mechanical Engineering ◽

10.2174/2212797613666200210113800 ◽

2020 ◽

Vol 13 (2) ◽

pp. 156-170

Author(s):

Bing Zhang ◽

Saike Jiang ◽

Ziliang Jiang ◽

Jiandong Li ◽

Kehong Zhou ◽

...

Keyword(s):

Control System ◽

Dynamic Model ◽

Control Strategy ◽

Parallel Mechanism ◽

Control Method ◽

Simulation Method ◽

Euler Method ◽

Parallel Mechanisms ◽

Rigid Body Dynamic ◽

And Control

Background: The parallel mechanism is widely used in motion simulators, parallel machine tools, medical equipment and other fields. It has advantages of high rigidity, stable structure and high carrying capacity. However, the control strategy and control method are difficult to study because of the complexity of the parallel mechanism system. Objective: The purpose of this paper was to verify the dynamic model of a hydraulic driven 3-DOF parallel mechanism and propose a compound control strategy to broaden the bandwidth of the control system. Methods: The single rigid body dynamic model of the parallel mechanism was established by the Newton Euler method. The feed forward control strategy based on joint space control with inverse kinematic was designed to improve the bandwidth and control precision. The co-simulation method based on MATLAB / SIMULINK and ADAMS was adopted to verify the dynamics and control strategy. Results: The bandwidth of each degree of freedom in the 3-DOF parallel mechanism was used to expand about 10Hz and the amplitude error was controlled below 5%. Conclusion: Based on the designed dynamic model and composite control strategy, the controlled accuracy of the parallel mechanism is improved and the bandwidth of the control system is broadened. Furthermore, the improvements can be made in aspects of control accuracy and real-time performance to compose more patents on parallel mechanisms.

Download Full-text

Build for Motion Control System of Planar Five-Bar Parallel Mechanism

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.397-400.1563 ◽

2013 ◽

Vol 397-400 ◽

pp. 1563-1567

Author(s):

Dong Yang Zhao ◽

Hong Bing Xin ◽

Quan Lai Li ◽

Deng Qi Cui ◽

Yue Fei Xin ◽

...

Keyword(s):

Control System ◽

Motion Control ◽

Parallel Mechanism ◽

Parallel Robot ◽

Servo Control ◽

Motion Controller ◽

The Core ◽

Planning And Control ◽

Servo Control System ◽

And Control

MC206X motion controller being chosen as the core of the system, this paper built the control system of a planar five-bar parallel robot, achieved the debugging of the hardware of a full servo control system, developed the Motion Perfect software system on the basis of the Windows-based operating system to complete the planning and control of continuous paths.

Download Full-text

Vibration Application Based on Machine and Control System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.443.281 ◽

2013 ◽

Vol 443 ◽

pp. 281-284

Author(s):

Jia Long

Keyword(s):

Control System ◽

Control Systems ◽

Human Body ◽

Information Technologies ◽

Human Performance ◽

Mechanical Effect ◽

Significant Difference ◽

Machine Control ◽

And Control ◽

Positive Effect

Vibration is a mechanical phenomenon whereby oscillations occur about an equilibrium point.Vibration platform uses machine, control system and information technologies to optimize human performance. In order to explore the mechanical effect of vibration based on machines and control systems on human performance, twenty participants were voluntarily involved in this trial. The findings of this study indicated that automation vibration has significant difference on human performance. It has a positive effect on human body. Therefore, vibration can be used in auto regulation.

Download Full-text

kinematics simulation and control system design of the three DOF parallel mechanism

Proceedings of the 2015 Joint International Mechanical, Electronic and Information Technology Conference ◽

10.2991/jimet-15.2015.140 ◽

2015 ◽

Cited By ~ 1

Author(s):

Bin-cheng Li ◽

Tian Yu ◽

Ping Liu

Keyword(s):

Control System ◽

System Design ◽

Parallel Mechanism ◽

Control System Design ◽

Kinematics Simulation ◽

Simulation And Control ◽

And Control

Download Full-text

IEE Computing & Control Division: Chairman's address. The human body and its transducers: a real-time real-life computing and control system

IEE Proceedings A Physical Science Measurement and Instrumentation Management and Education Reviews ◽

10.1049/ip-a-1.1984.0002 ◽

1984 ◽

Vol 131 (1) ◽

pp. 10

Author(s):

M.H. Westbrook

Keyword(s):

Control System ◽

Real Time ◽

Human Body ◽

Real Life ◽

And Control ◽

Control Division

Download Full-text

Development of a Jacobian Module for Advanced Pulp and Paper Simulation and Control

TAPPI Journal ◽

10.32964/tj8.1.4 ◽

2009 ◽

Vol 8 (1) ◽

pp. 4-11

Author(s):

MOHAMED CHBEL ◽

LUC LAPERRIÈRE

Keyword(s):

Control System ◽

Nonlinear Behavior ◽

Simulation Software ◽

Pulp And Paper ◽

Pid Controllers ◽

Tuning Parameters ◽

Pid Tuning ◽

Fixed Set ◽

And Control ◽

Operating Points

Pulp and paper processes frequently present nonlinear behavior, which means that process dynam-ics change with the operating points. These nonlinearities can challenge process control. PID controllers are the most popular controllers because they are simple and robust. However, a fixed set of PID tuning parameters is gen-erally not sufficient to optimize control of the process. Problems related to nonlinearities such as sluggish or oscilla-tory response can arise in different operating regions. Gain scheduling is a potential solution. In processes with mul-tiple control objectives, the control strategy must further evaluate loop interactions to decide on the pairing of manipulated and controlled variables that minimize the effect of such interactions and hence, optimize controller’s performance and stability. Using the CADSIM Plus™ commercial simulation software, we developed a Jacobian sim-ulation module that enables automatic bumps on the manipulated variables to calculate process gains at different operating points. These gains can be used in controller tuning. The module also enables the control system designer to evaluate loop interactions in a multivariable control system by calculating the Relative Gain Array (RGA) matrix, of which the Jacobian is an essential part.

Download Full-text