A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace

Cao, Rui; Gao, Feng; Zhang, Yong; Pan, Dalei; Chen, Weixing

doi:10.1080/15397734.2014.904234

Cited by 17 publications

(7 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…pressures. All the average motion performances can be calculated according to the objective function in equations (6) and (7), whose curves are as illustrated in Figure 11. The shapes of the curves in Figure 11 are similar to those in Figure 9.…”

Section: Experimental Validationmentioning

confidence: 99%

“…3,4 Electromechanical equipment usually have a lot of motion performance indexes 5 and complex influence parameters. 6,7 And due to the lack of efficient and feasible methods, it is not easy to evaluate or optimize motion performances. 8 The driving device of main steam and feed water isolation valves, which is composed of hydraulic circuits and pneumatic circuits, is the typical electromechanical equipment in nuclear power plants.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

The optimization methodology research on the motion performances of the driving device of main steam and feed water isolation valves

Pan

Gu²,

Guo³

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

The driving device of the main steam and feed water isolation valves is one of the most important electromechanical equipment in nuclear power plants, and its motion performances are related to the safety of nuclear power plants. This article proposes an optimization methodology to research the motion performances. In the methodology, inputs are the motion performance indexes and the major influencing parameters with no need for complex mathematical models of the electromechanical equipment; the co-simulation model or the prototype are adopted to illustrate the influence rules of major parameters on the motion performance indexes; objective functions for optimization, which combine motion performances with weight factors, can reveal the influence rule curves. Then based on the methodology, motion performances of the equipment are analyzed and the key indexes are selected. Besides, the maximum pressure of the driving device is chosen as the major parameter and a dimensionless objective function synthesizing the motion performance indexes is proposed. Finally, the influence rule curve where the dimensionless function varies with the maximum pressure is obtained by the co-simulation and the experimental study on the prototype verifies the results, which provides references for the further research and development in the engineering application. For other electromechanical equipment, the method is an efficient tool to design, verify, and optimize the performances.

show abstract

Section: Experimental Validationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The optimization methodology research on the motion performances of the driving device of main steam and feed water isolation valves

Pan

Gu²,

Guo³

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

show abstract

“…The legs arrangement provided 6 Degrees of Freedom (DoF) to the end-effector located on the mobile platform (Gough and Whitehall, 1962) and (Stewart, 1965). This architecture is still applied today to develop new applications, and thus new strategies for designing PM is a topic of continuous research (Cao et al, 2015). However, since many applications require less than 6 DoF, new architectures with less DoF called limited DOF PM have been developed.…”

Section: Introductionmentioning

confidence: 99%

Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator

Vallés

Araujo-Gómez

Mata

et al. 2017

Mechanics Based Design of Structures and Machines

View full text Add to dashboard Cite

Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Consequently, scholars have proposed architectures with 3 DoF and 4 DoF, but relatively few 4 DoF PMs have become prototypes, especially of the two rotation (2R) and two translation (2T) motion types. In this paper, we explain the mechatronics design, prototype and control architecture design of a 4 DoF PM with 2R2T motions. We chose to design a 4 DoF manipulator based on the motion needed to complete the tasks of lower limb rehabilitation. To the author's best knowledge, PMs between 3 and 6 DoF for rehabilitation of lower limb have not been proposed to date. The developed architecture enhances the three minimum DoF required by adding a 4 DoF which allows combinations of normal or tangential efforts in the joints, or torque acting on the knee. We put forward the inverse and forward displacement equations, describe the prototype, perform the experimental setup, and develop the hardware and control architecture. The tracking accuracy experiments from the proposed controller show that the manipulator can accomplish the required application.

show abstract

“…Seminal papers on PRs have focused on platforms with six degrees of freedom (DOF): three translational (3T) and three rotational (3R), an idea that continues to be developed with new 6-DOF architectures nowadays (Cao et al, 2015). However, many applications require fewer than 6 DOF.…”

Section: Introductionmentioning

confidence: 99%

Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments

Cazalilla

Vallés

Valera

et al. 2016

Mechanics Based Design of Structures and Machines

View full text Add to dashboard Cite

A robot interacting with the environment requires that the end effector position is tracked and that the forces of contact are kept below certain reference values. For instance, in a rehabilitation session using a robotic device, the contact forces are limited by the allowed strength of the human limbs and their complex-joints. In these cases, a control scheme which considers both position and force control is essential to avoid damage to either the end effector or the object interacting with the robot. This paper therefore develops a real-time force/position control scheme for a 3-DOF parallel robot whose end effector holds a DOF one translation (1T) and two rotations (2R). The implemented hybrid force/position control considers, as a reference, the normal force on the mobile platform, which is measured by means of a load cell installed on the platform. The position control is designed to track the orientations of the robot either in joint or task space using a model-based control scheme with identified parameters. Moreover, the force control is based on a PD action. The control scheme is developed through simulations, before being applied to an actual parallel robot. The findings show that with the implemented controller, the actual robot accomplishes the reference values for the normal force on the mobile platform, while at the same time the platform accurately follows the required angular orientation.

show abstract

A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace

Cited by 17 publications

References 23 publications

The optimization methodology research on the motion performances of the driving device of main steam and feed water isolation valves

The optimization methodology research on the motion performances of the driving device of main steam and feed water isolation valves

Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator

Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments

Contact Info

Product

Resources

About