Positive Analysis of a New Type of Planar 3-DOF Parallel Mechanisms

2012 ◽  
Vol 522 ◽  
pp. 659-662
Author(s):  
Zhao Xin Meng ◽  
Xiao Gang Lei ◽  
Chao Mei Zhang
Keyword(s):  
Mathematical Model ◽  
Error Analysis ◽  
Positive Solution ◽  
Parallel Mechanism ◽  
Control Algorithm ◽  
Movement Analysis ◽  
Parallel Mechanisms ◽  
New Type ◽  
And Control ◽  
Polygon Method

The planar 3-DOF parallel mechanism was developed as a part of the pushing device for the wood sawing. Using closed vector polygon method to make positive movement analysis of the mechanism, establish the positive solution mathematical model. It provided the theory bases for the error analysis and control algorithm of the planar 3-DOF parallel mechanism.

A Control System on Soil Temperature

2014 ◽  
Vol 599-601 ◽  
pp. 673-679
Author(s):  
Shi Guo Chen ◽  
Li Hua Hu ◽  
Dong Sheng Wu ◽  
Xue Yong Chen
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Soil Temperature ◽  
Control Algorithm ◽  
Soil Ecology ◽  
Control Soil ◽  
Pid Algorithm ◽  
And Control ◽  
The Mathematical Model

The soil’s temperature plays an important role of soil ecology research. In order to gain and control soil’ temperature. A control system is proposed for soil’s temperature. And a new control algorithm which is based on the PID algorithm is designed in the control system to handle the complex change of the soil’s temperature. It does not need to know the mathematical model of soil’s temperature. At last, the control result is analyzed in this paper. The result shows that the soil’s temperature is controlled ideal by this control system which is accurate to 0.5°C.

scholarly journals Development of New Type of Engine Governor and Control Algorithm for Reducing Fuel Consumption Rate in Marine Propulsion Diesel Engines

2009 ◽  
Vol 44 (1) ◽  
pp. 139-144
Author(s):  
Noriki Hirose ◽  
Kohei Ohtsu ◽  
Msanori Itoh ◽  
Etsuo Shimizu ◽  
Kotohiro Yamagata
Keyword(s):  
Fuel Consumption ◽  
Diesel Engines ◽  
Control Algorithm ◽  
Consumption Rate ◽  
Fuel Consumption Rate ◽  
Marine Propulsion ◽  
New Type ◽  
And Control

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.

Forward displacement analysis of a 3-RPR spherical parallel mechanism

2013 ◽  
Vol 227 (8) ◽  
pp. 1864-1869 ◽  
Author(s):  
Duanling Li ◽  
Zhonghai Zhang ◽  
He Li
Keyword(s):  
Mathematical Model ◽  
Parallel Mechanism ◽  
Spherical Geometry ◽  
Parallel Mechanisms ◽  
Forward Displacement ◽  
Displacement Analysis ◽  
Spherical Parallel Mechanism ◽  
The Mathematical Model ◽  
Forward Displacement Analysis ◽  
Modeling Equation

The forward displacement analysis of spherical parallel mechanisms is a nonlinear problem and has attracted the attention of many researchers. A method is proposed to analyze the forward displacement of a 3-RPR spherical parallel mechanism. Firstly, based on spherical geometry and spherical trigonometry theory, a mathematical model is derived for the forward displacement analysis of the spherical parallel mechanism. After simplifying the mathematical model, the kinematical equations are then solved using the resultant elimination method. Using this method, one can obtain the three variables representing the position and pose of the moving platform directly. Finally, a numerical example is presented and Autodesk Inventor software is used to verify all the real solutions. The method of mathematical modeling, equation simplification, resultant elimination presented in this paper can be extended to solve similar problems effectively.

Error Analysis of a 3-DOF Parallel Mechanism for Milling Applications

2013 ◽  
Vol 5 (3) ◽  
Author(s):  
G. E. E. Gojtan ◽  
G. P. Furtado ◽  
T. A. Hess-Coelho
Keyword(s):  
Error Analysis ◽  
Parallel Mechanism ◽  
The Other ◽  
Kinematic Structure ◽  
Positioning Error ◽  
Parallel Mechanisms ◽  
Tool Positioning ◽  
The Third ◽  
Orthogonality Conditions ◽  
Manufacturing Tolerances

Parallel mechanisms have been investigated during the last two decades, due to the fact that they present some advantages in a comparison with serial structures. This work deals with the error analysis of a 3-dof asymmetric parallel mechanism, purposely conceived for milling applications. In a comparison with the previous proposed concepts, this type of kinematic structure demonstrates a promising behavior. Topologically, the architecture is simpler and lighter than Tricept because it has no central passive limb. In addition, only the constraining active limb needs to satisfy the parallelism and orthogonality conditions. Furthermore, one degree of freedom, associated to the third actuator, is decoupled from the other two. Important issues, related to this type of kinematic structure, such as the mappings of the tool positioning error throughout the available workspace, due to the actuators imprecisions and manufacturing tolerances, are discussed in detail.

Workspace Analysis of New Type Parallel Mechanism with Serial Input

2011 ◽  
Vol 308-310 ◽  
pp. 2114-2119 ◽  
Author(s):  
Peng Lin Jing ◽  
Zhi You Feng
Keyword(s):  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Parallel Mechanisms ◽  
Constraint Force ◽  
Workspace Analysis ◽  
Inverse Solutions ◽  
New Type ◽  
Parallel Link ◽  
Branched Chain ◽  
The Impact

A new 4 DOF parallel mechanism with serial input limb is presented ——2UPS-RPU parallel mechanism, the limb with serial input is a less contrained active branched-chain,the number of its DOF is less than six,that is to say,the limbs not only transmitting driving force but also constraint force at the same time.Compared with traditional parallel mechanisms,the mechanism with serial input has greater number of DOF than the number of limbs and don’t lose the property of parallel mechanism. The inverse solutions to positions of the mechanism are modeled by inverse kinematic analysis in this paper, then the constraint conditions are established according to factors influencing the workspace of parallel mechanism,such as the limits of the hinge angle and the parallel link length.The workspace of 2UPS-RPU parallel mechanism can be obtained by using exetreme-boundary numerical algorithm in Matlab,the volume of workspace can be quantified by means of computation,and analyzing the impact of rod length ,circumradius of moving and fixed platform and motion pair rotation angle on the workspace.

Structure and Motion Analysis of a Tire Building Drum Based on Parallel Mechanism

2012 ◽  
Vol 164 ◽  
pp. 437-440
Author(s):  
Xue Hai Pan
Keyword(s):  
Optimal Design ◽  
Positive Solution ◽  
Parallel Mechanism ◽  
Trajectory Analysis ◽  
Solid Model ◽  
Theoretical Base ◽  
Type Analysis ◽  
Structure And Motion ◽  
New Type ◽  
Set Up

A new type of tire building drum based on parallel mechanism was presented and the analysis of the structure was carried out.The calculation of dof and the output motion type analysis and positive solution and inverse solution were included. Solid model of the mechanism was set up and the trajectory analysis was conducted using software of UG and MATLAB, which provided theoretical base for optimal design application of the mechanism.

Practical feasibility of a high-precision 3-UPU parallel mechanism

Robotica ◽  
2013 ◽  
Vol 32 (3) ◽  
pp. 341-355 ◽  
Author(s):  
Gaurav Bhutani ◽  
T. A. Dwarakanath
Keyword(s):  
Mathematical Model ◽  
Error Analysis ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Design Considerations ◽  
Geometrical Constraints ◽  
New Perspective ◽  
The Mathematical Model ◽  
Practical Feasibility ◽  
Novel Design

SUMMARYIn this paper, we revisit the 3-degrees of freedom (DOF) pure translational mechanism. The mathematical model and the design considerations are discussed. A detailed sensitivity and error analysis is carried out and the results are discussed in a new perspective. The feasibility of the practical 3-DOF pure translational mechanism is established with novel design considerations to take care of theoretical mobility and geometrical constraints. We describe and validate the theoretical observations with stage-wise prototype models and experiments. The experimental results concur that all is well with 3-UPU in contrast to what is presented in refs. [6, 9, 10].

Development and Control of a Low-Cost, Three-Thruster, Remotely Operated Underwater Vehicle

2015 ◽  
Vol 9 (1) ◽  
pp. 67-75 ◽  
Author(s):  
Khoa Duy Le ◽  
◽  
Hung Duc Nguyen ◽  
Dev Ranmuthugala
Keyword(s):  
Mathematical Model ◽  
Control Algorithm ◽  
Control Structure ◽  
Hybrid Control ◽  
Low Cost ◽  
Remotely Operated Vehicle ◽  
Model Based ◽  
Heading Control ◽  
Open Source Hardware ◽  
And Control

This paper presents the development of a low cost Remotely Operated Vehicle (ROV) which consists of open source hardware and has three thrusters. First, the hardware of the vehicle, including the actuators, sensors, and control structure, is described. Second, to study the relationship between the thrust forces and the performance of the ROV, a mathematical model of the vehicle in the form of a kinematic and kinetic model is established. Next, a hybrid control algorithm consisting of two components, namely model-based and PID algorithms, is proposed for surge speed, depth, and heading control. The effectiveness of the hybrid control algorithm is then verified by the ROV mathematical model-based simulations. Finally, free running tests for depth control are conducted to verify the robustness and reliability of the control structure and proposed algorithms.

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