Development of synchronized control system through a pneumatic parallel mechanism and its 3D CG model

Tanaka, Yoshito; Yun, So-Nam; Tanaka, Yutaka

doi:10.1007/s12206-015-1244-1

Cited by 2 publications

(1 citation statement)

References 7 publications

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“…Hence, many research are devoted to improve the dynamic performance of parallel mechanism, such as reducing the amount of deviation 6 and optimizing the control strategy. 7 Actually, in the application of parallel mechanism, the flexible component and joints are main error source of the end-effector, which results in that the actual motion trajectory has a deviation from the desired trajectory. However, compared to serial mechanism, the effect of flexible components on the dynamic performance of the parallel mechanism is seldom focused on by researcher.…”

Section: Introductionmentioning

confidence: 99%

Elastodynamics modeling of 4-SPS/CU parallel mechanism with flexible moving platform based on absolute nodal coordinate formulation

Wang

2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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The moving platform of the 4-SPS/CU (S is the spherical joint, P is the prismatic joint, C is the cylindrical joint, U is the universal joint) parallel mechanism is treated as a thin-plate element based on the absolute nodal coordinate formulation due to its physical characteristic. In order to eliminate high-frequency modes caused by the coupling between membrane and bending effects, the elastic mid-surface approach is used to evaluate the elastic force of the flexible moving platform. In order to formulate constraint equations between the flexible body and the rigid body, the tangent frame is introduced to define the joint coordinate system that is rigidly attached to the node at the joint, which is convenient for determining the constant vector in the joint coordinate system. The dynamics model of the parallel mechanism with the flexible moving platform is built based on the equation of motion. The simulation results show that the vibration frequency caused by the flexible body will be increased with the increasing stiffness of the material, and the kinematic trajectory and dynamics performance of the parallel mechanism are affected seriously when the smaller Young’s modulus is used, which illustrates that the effect of the flexible moving platform on the dynamic performance of the parallel mechanism should not be ignored.

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Section: Introductionmentioning

confidence: 99%

Elastodynamics modeling of 4-SPS/CU parallel mechanism with flexible moving platform based on absolute nodal coordinate formulation

Wang

2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

A novel methodology of calculating the human-machine interactive force for a head-neck exoskeleton

et al. 2018

J Mech Sci Technol

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Development of synchronized control system through a pneumatic parallel mechanism and its 3D CG model

Cited by 2 publications

References 7 publications

Elastodynamics modeling of 4-SPS/CU parallel mechanism with flexible moving platform based on absolute nodal coordinate formulation

Elastodynamics modeling of 4-SPS/CU parallel mechanism with flexible moving platform based on absolute nodal coordinate formulation

A novel methodology of calculating the human-machine interactive force for a head-neck exoskeleton

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