检索结果-南通市图书馆

Optimum Seeking of redundant Actuators for M-RCM 3-UPU Parallel Mechanism

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Mechanical Engineering 2021年第6期34卷 373-384页

作者： Chen Zhao Jingke Song Xuechan Chen Ziming Chen Huafeng Ding School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China School of Mechanical Engineering and Electronic Information China University of Geosciences(Wuhan)Wuhan430074China

The singularity problem brings troubles to the design and application for the parallel ***,redun-dant actuation is one of the useful methods to solve this singularity ***,faced to the numerous joints in a parallel mechanism,how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open *** paper focuses on a 2R1T 3-UPU(U for universal joint and P for prismatic joint)parallel mechanism(PM)with two rotational and one translational(2R1T)degrees of freedom(DOFs)and the ability of multiple remote centers of motion(M-RCM).The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singular-ity,constraint singularity,mixed singularity and limb *** solve these singular problems,the quantifiable redundancy transmission index(RTI)and the redundancy constraint index(RCI)are proposed for optimum seeking of redundant actuators for this *** the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the *** research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.

关键词： Parallel mechanism 2R1T RCM Singularity redundant actuation

Redundancy in Biology and Robotics:Potential of Kinematic Redundancy and its Interplay with Elasticity

在线全文

学校读者我要写书评

暂无评论

Journal of Bionic Engineering 2020年第4期17卷 695-707页

作者： Tom Verstraten Christian Schumacher Rapha(e)l Furnémont Andre Seyfarth Philipp Beckerle Robotics and Multibody Mechanics Research Group(R&MM) Vrije Universiteit Brussel and Flanders MakePleinlaan 21050 ElseneBelgium Institute of Sports Science TU DarmstadtMagdalenenstraβe 2764289 DarmstadtGermany Elastic Lightweight Robotics Group Robotics Research InstituteTU DortmundOtto-Hahn-Straβe 844227 DortmundGermany Institüt fur Mechatronische Systeme im Maschinenbau TU DarmstadtOtto-Berndt-Straβe 264287 DarmstadtGermany

Redundancy facilitates some of the most remarkable capabilities of humans,and is therefore omni-present in our *** relationship between redundancy in robotics and biology is investigated in detail on the Series Elastic Dual-Motor Actuator(SEDMA),an actuator inspired by the kinematic redundancy exhibited by *** actuator consists of two motors coupled to a single spring at the *** a system has a redundant degree of freedom,which can be exploited to optimize aspects such as accuracy,impedance,fault-tolerance and energy *** test its potential for human-like motions,the SEDMA actuator is implemented in a hopping *** on a physical demonstrator show that the robot's movement patterns resemble human squat *** conclude that robots with bio-inspired actuator designs facilitate human-like movement,although current technical limitations may prevent them from reaching the same dynamic and energetic performance.

关键词： bioinspired redundant actuation series elastic actuation hopping robots energy efficiency human physiology

Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with actuation Redundancy

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

International Journal of Automation and computing 2014年第5期11卷 555-564页

作者： Xue-Mei Niu Guo-Qin Gao Xin-Jun Liu Zhi-Ming Fang School of Electrical and Information Engineering Jiangsu University Department of Mechanical Engineering Tsinghua University

This paper presents a bio-inspired backstepping adaptive sliding mode control strategy for a novel 3 degree of freedom(3-DOF) parallel mechanism with actuation redundancy. Based on the kinematic model and the dynamic model, a sliding mode controller is designed to assure the tracking performance, and an adaptive law is introduced to approximate the system uncertainty including parameters variation, external disturbances and un-modeled part. Furthermore, a bio-inspired model is introduced to solve the inherent chattering problem of sliding mode control and provide a chattering free control. The simulation and experimental results testify that the proposed bio-inspired backstepping adaptive sliding mode control can achieve better performance(the tracking accuracy,robustness, response speed, etc.) than the conventional slide mode control.

关键词： Parallel mechanism redundant actuation kinematics analysis dynamics analysis adaptive sliding mode control bioinspired model

Dynamics and Control of a Novel 3-DOF Parallel Manipulator with actuation Redundancy

在线全文

学校读者我要写书评

暂无评论

Machine Intelligence Research 2013年第6期10卷 552-562页

作者： Xue-Mei Niu Guo-Qin Gao Xin-Jun Liu Zhi-Da Bao School of Electrical and Information Engineering Jiangsu University Department of Mechanical Engineering Tsinghua University

This paper deals with the dynamics and control of a novel 3-degrees-of-freedom(DOF)parallel manipulator with actuation *** to the kinematics of the redundant manipulator,the inverse dynamic equation is formulated in the task space by using the Lagrangian formalism,and the driving force is optimized by utilizing the minimal 2-norm *** on the dynamic model,a synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking ***,an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free *** simulation results indicate the efectiveness of the proposed approaches and demonstrate the satisfactory tracking performance compared to the conventional controller in the presence of the parameter uncertainties and un-modelled dynamics for the motion control of manipulators.

关键词： Parallel manipulator redundant actuation dynamics modelling sliding mode control weighed integral gain reaching law

A framework for dynamic modelling of railway track switches considering the switch blades,actuators and control systems

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Railway Engineering Science 2024年第2期32卷 162-176页

作者： Saikat Dutta Tim Harrison Christopher Ward Roger Dixon Phil Winship Institute of Thermofluids School of Mechanical EngineeringUniversity of LeedsLeedsWest YorkshireUK Wolfson School of Mechanical Electrical and Manufacturing EngineeringLoughborough UniversityLoughboroughLeicestershireUK Birmingham Centre for Railway Research and Education School of EngineeringUniversity of BirminghamBirminghamWest MidlandsUK Network Rail Milton KeynesBuckinghamshireUK

The main contribution of this paper is the development and demonstration of a novel methodology that can be followed to develop a simulation twin of a railway track switch system to test the functionality in a digital *** is important because,globally,railway track switches are used to allow trains to change routes;they are a key part of all railway ***,because track switches are single points of failure and safety-critical,their inability to operate correctly can cause significant delays and concomitant *** order to better understand the dynamic behaviour of switches during operation,this paper has developed a full simulation twin of a complete track switch *** approach fuses finite element for the rail bending and motion,with physics-based models of the electromechanical actuator system and the control ***,it provides researchers and engineers the opportunity to explore and understand the design space around the dynamic operation of new switches and switch machines before they are *** is useful for looking at the modification or monitoring of existing switches,and it becomes even more important when new switch concepts are being considered and *** simulation is capable of running in real time or faster meaning designs can be iterated and checked *** paper describes the modelling approach,demonstrates the methodology by developing the system model for a novel“REPOINT”switch system,and evaluates the system level performance against the dynamic performance requirements for the *** the context of that case study,it is found that the proposed new actuation system as designed can meet(and exceed)the system performance requirements,and that the fault tolerance built into the actuation ensures continued operation after a single actuator failure.

关键词： Railway track switch Mathematical modelling redundant actuation Finite element analysis