scholarly journals Dynamic modelling of a 3-CPU parallel robot via screw theory

2013 ◽  
Vol 4 (1) ◽  
pp. 185-197 ◽  
Author(s):  
L. Carbonari ◽  
M. Battistelli ◽  
M. Callegari ◽  
M.-C. Palpacelli
Keyword(s):  
Dynamic Analysis ◽  
Research Group ◽  
Screw Theory ◽  
Virtual Work ◽  
Dynamic Modelling ◽  
Parallel Robot ◽  
Computationally Efficient ◽  
Virtual Work Principle ◽  
Model Based ◽  
Advanced Model

Abstract. The article describes the dynamic modelling of I.Ca.Ro., a novel Cartesian parallel robot recently designed and prototyped by the robotics research group of the Polytechnic University of Marche. By means of screw theory and virtual work principle, a computationally efficient model has been built, with the final aim of realising advanced model based controllers. Then a dynamic analysis has been performed in order to point out possible model simplifications that could lead to a more efficient run time implementation.

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xiaogang Song ◽  
Yongjie Zhao ◽  
Chengwei Chen ◽  
Liang’an Zhang ◽  
Xinjian Lu
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Virtual Work ◽  
Parallel Robot ◽  
Torque Control ◽  
Virtual Work Principle ◽  
Tuning Method ◽  
Computed Torque Control ◽  
Control Feedback ◽  
Computed Torque

SUMMARY In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

A droplet deformation and breakup model based on virtual work principle

2015 ◽  
Vol 27 (3) ◽  
pp. 032103 ◽  
Author(s):  
Arash B. Sichani ◽  
Mohsen D. Emami
Keyword(s):  
Virtual Work ◽  
Droplet Deformation ◽  
Virtual Work Principle ◽  
Model Based ◽  
Breakup Model

Dynamic Modeling and Model-Based Force Control of a 3-DOF Translational Parallel Robot

2014 ◽  
Vol 1006-1007 ◽  
pp. 609-617 ◽  
Author(s):  
Shu Hua Gao ◽  
Rui Fan ◽  
Dan Wang
Keyword(s):  
Dynamic Model ◽  
Control Strategy ◽  
Force Control ◽  
Virtual Work ◽  
Parallel Robot ◽  
Cnc Machine Tools ◽  
Distribution Factor ◽  
Cnc Machine ◽  
Model Based ◽  
Output Force

A 3-axis parallel loading mechanism, which works as a multi-axis load simulator, is proposed for reliability test of multi-axis CNC machine tools by exerting specific load spectrums on the spindle. To achieve efficient loading force control, dynamic model of the 3-DOF translational parallel robot is derived via the virtual work principle and is embedded into the control strategy to build a model-based control scheme. A mass distribution factor is introduced and the rotating inertia of the limbs is neglected to simplify the dynamics equations for better real-time control performance. This simplification method is verified by comparison with the complete dynamics model. Then the simplified dynamic model is integrated with a PI (proportional–integral) controller with feedforward to control the moving platform’s output force in the task space and this control strategy is verified through co-simulations with MATLAB/Simulink and ADAMS. Simulation results show that the proposed model-based PI controller is effective to control the three-dimensional output force of the 3-DOF translational parallel robot.

Multibody Dynamic Analysis of a 6-DOF Parallel Robot

2001 ◽  
Author(s):  
Miguel Almonacid ◽  
Sunil K. Agrawal ◽  
Rafael Aracil ◽  
Roque J. Saltarén
Keyword(s):  
Dynamic Analysis ◽  
Virtual Work ◽  
Computational Cost ◽  
Parallel Robot ◽  
Principle Of Virtual Work ◽  
Singularity Problem ◽  
Multibody Dynamic ◽  
Six Degree Of Freedom ◽  
Stewart Gough Platform ◽  
3D Surfaces

Abstract This paper presents the dynamic analysis of a six-degree of freedom (dof) parallel robot based on multibody dynamics. The robot is also known as Stewart-Gough platform. The inverse and forward dynamic analysis is presented based on the Newton-Euler formulation with the imposition of the constraints through Lagrange multipliers and the application of the principle of virtual work. The singularity problem within the workspace is also focused and 3D surfaces where the robot reach singular configurations are shown. Finally, simulations for the inverse and forward dynamic of the robot have been carried out showing the computational cost.

scholarly journals Dynamic analysis of multi-functional maintenance platform based on Newton-Euler method and improved virtual work principle

2020 ◽  
Vol 52 (11) ◽  
pp. 2630-2637
Author(s):  
Dongyi Li ◽  
Kun Lu ◽  
Yong Cheng ◽  
Wenlong Zhao ◽  
Songzhu Yang ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Virtual Work ◽  
Euler Method ◽  
Virtual Work Principle

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

scholarly journals Application of the virtual work principle to compute magnetic forces with a volume integral method

2013 ◽  
Vol 27 (3) ◽  
pp. 418-432 ◽  
Author(s):  
Anthony Carpentier ◽  
Nicolas Galopin ◽  
Olivier Chadebec ◽  
Gérard Meunier ◽  
Christophe Guérin
Keyword(s):  
Integral Method ◽  
Virtual Work ◽  
Volume Integral ◽  
Virtual Work Principle ◽  
Magnetic Forces
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