Simulation Analysis of Kinematics and Dynamics of 3-TPS Hybrid Robot

2014 ◽  
Vol 983 ◽  
pp. 379-382
Author(s):  
Jia Shun Shi ◽  
Shuang Wang ◽  
Li Da Zhu ◽  
Wan Shan Wang ◽  
Tian Biao Yu
Keyword(s):  
Machine Tool ◽  
Driving Force ◽  
Simulation Analysis ◽  
Maximum Velocity ◽  
Virtual Prototype ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Three Dimensional Model ◽  
Hybrid Machine Tool ◽  
Hybrid Machine

The paper aims at the questions of electromotor selection and mechanism design, which is effectively solved by the virtual prototype technology. Firstly, the three-dimensional model of hybrid machine tool is built by using SolidWorks software. Secondly, the assembled model is channeled into ADAMS/View, and then formed the virtual prototype simulation model with mute-body dynamics. Velocity and driving force curve of each driving shaft is got by analyzing the kinematics and dynamics of the hybrid machine tool. Maximum velocity and maximum driving force each driving shaft can find out by the method of space search. Therefore, the kinematics and dynamics properties of 3-TPS hybrid machine tool is obtained, which provide proof for machine electromotor selection, framework design and control system design. Key words: Hybrid robot; Kinematics; Dynamics; ADAMS; Simulation

Error Comparison and Analysis of Parallel and Constraint Mechanism for 3-TPS Hybrid Machine Tool

2011 ◽  
Vol 127 ◽  
pp. 277-282
Author(s):  
Peng Fei Dang ◽  
Li Jin Fang
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Error Model ◽  
Position Error ◽  
Robot Kinematics ◽  
Motion Error ◽  
Movable Plate ◽  
Hybrid Machine Tool ◽  
Hybrid Machine

This paper establishes position error model based on parallel robot kinematics theory, and analyses position error of the 3-TPS hybrid machine tool. Firstly, to calculate position error of the movable plate caused by the parallel mechanism links, through error model of the parallel mechanism which is established through inverse kinematics of the hybrid machine tool. Then, according to the error model of constraint mechanism established by transformation matrix method, the position error has been simulated and calculated. Finally, this paper compares the effects of both mechanisms. The analysis indicates the link error of constraint mechanism has more influence on movable plate posture than parallel mechanism, and provides help with motion error compensation and kinematic calibration.

scholarly journals Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Hong Jun Li ◽  
Wei Jiang ◽  
Yu Yan ◽  
An Zhang ◽  
Gan Zuo
Keyword(s):  
Transmission Lines ◽  
Simulation Analysis ◽  
Dynamics Simulation ◽  
Mobile Platform ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Joint Force ◽  
Dynamic Constraints ◽  
Working Space ◽  
Physical Prototype

In response to the problems of high labor intensity, high risk, and poor reliability of artificial live working, a four-wheel-driven spacer bar replacement mobile operation robot has been designed and developed in this paper, and the corresponding kinematic and dynamics model have been established, based on the established double models, the kinematics and dynamics numerical analysis can be realized through INVENTOR and ADAMS, respectively, based on the established kinematics and dynamics models . The results show that the simulation value of the robot joint displacement, velocity, acceleration, and joint force can be able to meet the requirements of kinematic and dynamic constraints during the robot operation. The robot prototype can meet the requirement of dual-split robot working space and the operation joint force control, which not only extend the robot adaptability to the multisplit lines heterogeneous operation environment but also provide an important theoretical technical support for the exploit of the robot physical prototype. Through the robot kinematics and dynamics analysis, the robot mechanical structure parameters and electrical control parameters have been effectively optimized. The weight and cost of the robot have been reduced by 12% and 15% compared to the existed studies. Finally, the robot principle prototype mobile platform has been developed, and the correctness of robot kinematics and dynamics simulation analysis has been verified through the robot principle prototype mobile platform.

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