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DYNAMIC DESIGN OF VARIABLE SPEED PLANAR LINKAGES

Chinese Journal of Mechanical Engineering 2005年第1期18卷 51-54页

作者： YaoYanan YanHongsen ZouHuijun SchoolofMechanicalandElectronicControlEngineering BeijingJiaotongUniversityBeijing100044China DepartmentofMechanicalEngineering NationalChengkungUniversityTainan70101China DepartmentofMechanicalEngineering ShanghaiJiaotongUniversityShanghai200030China

A method for improving dynamic characteristics of planar linkages by activelyvarying the speed function of the input link is presented. Design criteria and constraints for thedynamic design of variable speed planar linkages are developed. Both analytical and optimizationapproaches for determining suitable input speed functions to minimize the driving torque, theshaking moment, or both simultaneously of planar linkages, subject to various design requirementsand constraints, are derived. Finally, some examples are given to illustrate the design procedureand to verify its feasibility.

关键词： Planar linkage driving torque Shaking moment

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Command functions of open loop galvanometer scanners with optimized duty cycles

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Theoretical & Applied Mechanics Letters 2012年第4期2卷 34-39页

作者： V.F.Duma 3OM Optomechatronics Group Faculty of EngineeringAurel Vlaicu University of AradArad 310130Romania

The paper approaches the problem of the command functions of galvanometer-based scanners （GS） that are necessary to produce the linear plus parabolic scanning function of the GS, which we have proved previously to produce the highest possible duty cycle （i.e., time efficiency） of the device. We have completed this theoretical aspect （which contradicted what has been stated previously in the literature, where it has been considered that the linear plus sinusoidal scanning function was the best） with the experimental study of the most used scanning functions of the GSs （sawtooth, sinusoidal and triangular）, with applications in biomedical imaging, in particular in optical coherence tomography, demonstrating that the triangular function is always the best one to be applied, from both an optical and a mechanical point of view. In the present study the input voltage/command function which should be applied to the GS to produce the desired triangular scanning function （with controlled non-linearity for the fastest possible stop-and-turn portions） was determined analytically, in relationship with the active torque that drives the device. This command function is analyzed with regard to the specific, respectively required parameters of the GS： natural frequency and damping factor, respectively scan speed and amplitude. The modeling in an open loop control structure of the GS is finally discussed as a trade-off between using the highest possible duty cycle and minimizing the maximum peaks of the input voltage.

关键词： scanners galvanometer scanner optomechatronics scanning functions command func-tions duty cycle driving torque

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Dynamic modeling and analysis of 3-■RS parallel manipulator with flexible links

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Journal of Central South University 2010年第2期17卷 323-331页

作者：刘善增余跃庆朱真才苏丽颖刘庆波 College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology(Xuzhou)

The dynamic modeling and solution of the 3-RRS spatial parallel manipulators with flexible links were investigated. Firstly, a new model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, according to the kinematic coupling relationship between the moving platform and flexible links, the kinematic constraints of the flexible parallel manipulator were proposed. Thirdly, using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches. FtLrthermore, a few commonly used effective solutions of second-order differential equation system with variable coefficients were discussed. Newmark numerical method was used to solve the dynamic equations of the flexible parallel manipulator. Finally, the dynamic responses of the moving platform and driving torques of the 3-RRS parallel mechanism with flexible links were analyzed through numerical simulation. The results provide important information for analysis of dynamic performance, dynamics optimization design, dynamic simulation and control of the 3-RRS flexible parallel manipulator.

关键词： flexible robot parallel manipulator dynamic analysis kineto-elastodynamics analysis driving torque

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