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.

Dynamic Simulation Analysis of the Crane Hoisting Process Based on Adams

2014 ◽  
Vol 940 ◽  
pp. 132-135 ◽  
Author(s):  
Yi Fan Zhao ◽  
Ling Sha ◽  
Yi Zhu
Keyword(s):  
Dynamic Simulation ◽  
Simulation Analysis ◽  
Three Dimensional ◽  
Wire Rope ◽  
Dynamics Simulation ◽  
Dimensional Model ◽  
Analysis Model ◽  
Three Dimensional Model ◽  
Adams Software ◽  
Simulation Results

Established the dynamics simulation analysis model of crane hoisting mechanism based on the theory of dynamics in Adams software, and then through the three dimensional model of lifting mechanism dynamics entities, the constraints, load, drive can be added, the motion law can be defined to simulation analysis the change of the force of wire rope, the change of displacement, velocity and acceleration of lifting weight in the lifting process. On the basis of the simulation results, it can make a great improvement for the structure of crane and provide a meaningful theoretical reference for the hoisting machinery innovation design.

Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF

2010 ◽  
Vol 4 (4) ◽  
pp. 364-371 ◽  
Author(s):  
Nobuyuki Iwatsuki ◽  
◽  
Norifumi Nishizaka ◽  
Koichi Morikawa ◽  
Koji Kondoh ◽  
...  
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Weighting Coefficient ◽  
Redundant Manipulator ◽  
Output Displacement ◽  
Spatial Parallel Mechanism ◽  
Inverse Kinematic Analysis ◽  
Forward Kinematic

This paper describes the kinematic analysis and motion control of a hyper redundant robot built by serially connecting many units with a few DOF. Each unit of the manipulator is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linear actuators, 7 spherical joints, and a center rod. The forward kinematic analysis of the manipulator based on the forward kinematics of each unit by numerical calculation was carried out. The inverse kinematic analysis, the iterative calculation so as to converge output error while output displacement is distributed into each unit with weighting coefficient, was proposed and formulated. Motion control of the robot was theoretically and experimentally examined based on the inverse kinematics. It was confirmed that a prototype with 3 units could generate the desired trajectories.

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

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.

Simulation on Dynamics of Transmission Shaft-Rear Driving Axle of Minibus with ADAMS

2014 ◽  
Vol 651-653 ◽  
pp. 862-865
Author(s):  
Chen Xia Zhang ◽  
Hui Bin Li ◽  
De Quan Jin
Keyword(s):  
Dynamic Model ◽  
Transmission Shaft ◽  
Adams Software ◽  
Simulation Results ◽  
Set Up

Simulations on the dynamics for the transmission shaft-rear driving axle of minibus were conducted with ADAMS. By using ADAMS software, the multi-dynamic model of the transmission shaft-rear driving axle was set up and then effects of the equivalent transmission shaft angle’s variation and transmission shaft rotating speeds on the rear driving axle’s vibration were analyzed. With the increase of the equivalent transmission shaft angle’s variation and transmission shaft rotating speeds, the vibration of the rear driving axle will also increase. These simulation results will give help to further study of the NVH characteristic of the rear driving axle.

Dynamic Characteristics Investigation on Hydraulic System of Power-Slipway for Combined Machine Tools

2014 ◽  
Vol 1006-1007 ◽  
pp. 142-146
Author(s):  
Xi Juan Qi ◽  
Jun Qi Ge
Keyword(s):  
Optimal Design ◽  
Performance Analysis ◽  
Dynamic Model ◽  
Dynamic Simulation ◽  
Dynamic Characteristics ◽  
Machine Tools ◽  
Hydraulic System ◽  
Bond Graph ◽  
Power Bond Graph ◽  
Simulation Results

The power bond graph of hydraulic system of power-slipway for combined machine tools was built on the basis of analysis on its hydraulic system and actual working cases. Dynamic model of hydraulic system of power-slipway was built. At the same time, making use of Simulink, dynamic simulation of hydraulic system of power-slipway was carried out. Influence law of primary technology parameters on dynamic characteristics of the hydraulic system of power-slipway was expounded. The simulation results will provide theory basis for performance analysis and optimal design of hydraulic system of power-slipway for combined machine tools.

scholarly journals Analysis and control for a new reconfigurable parallel mechanism

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093132
Author(s):  
Guanyu Huang ◽  
Dan Zhang ◽  
Hongyan Tang ◽  
Lingyu Kong ◽  
Sumian Song
Keyword(s):  
Dynamic Model ◽  
Pid Controller ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Loop Equation ◽  
Lagrange Formulation ◽  
And Control

This article proposes a new reconfigurable parallel mechanism using a spatial overconstrained platform. This proposed mechanism can be used as a machine tool. The mobility is analyzed by Screw Theory. The inverse kinematic model is established by applying the closed-loop equation. Next, the dynamic model of the presented mechanism is established by Lagrange formulation. To control the presented mechanism, some controllers have been used. Based on this dynamic model, the fuzzy-proportion integration differentiation (PID) controller is designed to track the trajectory of the end effector. For each limb, a sliding mode controller is applied to track the position and velocity of the slider. Finally, some simulations using ADAMS and MATLAB are proposed to verify the effectiveness and stability of these controllers.

Dynamic Characteristics Investigation on Hydraulic System of Array Nail Machine Based on Simulink

2013 ◽  
Vol 694-697 ◽  
pp. 7-10
Author(s):  
Xi Juan Qi ◽  
Zhi Ying Qin ◽  
Yue Jing Zhao
Keyword(s):  
Optimal Design ◽  
Performance Analysis ◽  
Dynamic Model ◽  
Dynamic Simulation ◽  
Dynamic Characteristics ◽  
Hydraulic System ◽  
Bond Graph ◽  
Actual Working ◽  
Power Bond Graph ◽  
Simulation Results

The power bond graph of hydraulic array nail machine was built on the basis of analyses on its hydraulic system and actual working cases. Dynamic model of array nail machine hydraulic system was built. At the same time, making use of Simulink, dynamic simulation of hydraulic system of array nail machine was carried out. Influence law of primary technology parameters on dynamic characteristics of the hydraulic system was expounded. The simulation results will provide theory bases for performance analysis and optimal design of array nail machine hydraulic system.

Study on a New Kind of 6-Degree of Freedom Parallel Earthquake Simulator

2013 ◽  
Author(s):  
Chunxiang Ma ◽  
Miaoqi Zheng ◽  
Xu Huang ◽  
Jun He ◽  
Jie Chen ◽  
...  
Keyword(s):  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Fault Tolerant ◽  
Kinematic Model ◽  
Degree Of Freedom ◽  
Ansys Software ◽  
Fem Model ◽  
Kinematic Simulation ◽  
Earthquake Simulator ◽  
Adams Software

In this paper, a kind of 6-degree of freedom parallel earthquake simulator is proposed, which has 28 -input, two types of the branches and the redundant and fault-tolerant actuators. Based on the theory of the parallel mechanism, the mechanism of the 6-degree of freedom parallel earthquake simulator with 28 -input and the redundant and fault-tolerant actuators is constructed. The kinematic model of the earthquake simulator is established by D-H method. The kinematic simulation and the dynamic simulation of the earthquake simulator are carried out with ADAMS software. Finally, FEM model of the earthquake simulator is given and the modal analysis of the earthquake simulator is made with ANSYS software.

Modelling and stabilization of a three-axis ship-mounted mobile antenna system

2016 ◽  
Vol 231 (2) ◽  
pp. 533-541 ◽  
Author(s):  
Sina Kuseyri
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Satellite Communication ◽  
Antenna System ◽  
Euler Method ◽  
Sea Waves ◽  
Pi Controllers ◽  
Simulation Results ◽  
Mobile Satellite ◽  
Mobile Satellite Communication

A mobile satellite communication antenna is a device installed on a moving carrier for mobile satellite communication. Gimballed motorized pedestals are used to eliminate the effect of disturbance and maintain uninterrupted communication when the carrier is moving. Mobile satellite communication antennas are becoming increasingly more popular due many advantages of mobile satellite communication. In this paper, a three-axis ship-mounted antenna on a pedestal gimbal system is studied. We study the problem with a different perspective and method from the previous work for two-axis antenna pedestals. The former studies treat the subsystems to be isolated and design controllers separately, which neglect the coupling effects in the dynamics of two or three-axis antenna pedestal gimbals. We treat three sub-systems as a whole and derive the dynamic model of the system using the Newton–Euler method. Based on the dynamic model, linear PI controllers are designed to stabilize the antenna to keep its orientation towards the satellite. The design objective of the control system is to direct the on-board antenna toward a satellite and to keep its orientation unaltered despite the effect of sea waves disturbing the antenna. Simulation results are presented to show the stabilization performance of the system with the synthesized controllers.

scholarly journals Kinematic design of a translational parallel mechanism based on sub-kinematic chain determined workspace superposition

2021 ◽  
pp. 095440622110046
Author(s):  
Huiping Shen ◽  
Yinan Zhao ◽  
Guanglei Wu ◽  
Ju Li ◽  
Damien Chablat
Keyword(s):  
Parallel Mechanism ◽  
Kinematic Chain ◽  
Inverse Kinematic ◽  
Parallel Mechanisms ◽  
Kinematic Modeling ◽  
Symbolic Model ◽  
Kinematic Design ◽  
Decoupled Motion ◽  
Topological Characteristics ◽  
Kinematic Solution

This paper presents the kinematic design of a translational parallel mechanism (PM) named Vari-Orthoglide by means of the workspace superposition, according to the sub-kinematic chain (SKC) based PM composition principle. The main topological characteristics of the manipulator with two SKCs under study, such as the position and orientation (POC) characteristics, degree of freedom (DOF) and coupling degree are analyzed, which turns out that the coupling degree equals to 1, implying the partially decoupled motion. With the topological characteristics based kinematic modeling principle, a symbolic model of the kinematics is established to derive its symbolic direct and inverse kinematic solutions. Based upon the direct kinematic solution, the workspaces for the two SKCs can be efficiently found. Moreover, the singularity loci are identified for finding the singularity-free workspace, where a regular workspace is fitted as the task workspace as expected. The presented work shows an approach to design translational parallel mechanisms considering motion decoupling and regular workspace, applicable to other types of parallel mechanisms.

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