Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

Xiao, Li; Liao, Linjing; Song, Jingzhou

doi:10.1155/2017/4028602

Cited by 5 publications

(5 citation statements)

References 16 publications

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“…According to the data of Table 4, it was found that the fitting result was better when j was equal to 5. en, the undetermined coefficient matrix P ij under the task is expressed by equation (23). e matrix is 0 to 5 powerrelated from the bottom to top:…”

Section: Improved Dynamic Model Analysis and Modelingmentioning

confidence: 99%

“…According to equations (22) and (23), the correction function of the dynamic model at each joint is shown in equation (24). It is shown in equation (25) that the total expressions of the correction function are from joint 1 to joint 6.…”

Section: Improved Dynamic Model Analysis and Modelingmentioning

confidence: 99%

“…e common methods for dynamics modeling include the Lagrange method [16,17], Newton-Euler method [18][19][20], Kane method [21][22][23][24], spin-to-even method [25,26], and Virtual work principle method [27,28].…”

Section: Introductionmentioning

confidence: 99%

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Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Xiao

Gong

et al. 2020

Mathematical Problems in Engineering

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The calculus is one of the common diseases with high incidence. The effective treatment method is extracorporeal ultrasonic lithotripsy. At present, it is low about the intelligent and automatic level of the lithotripter, and it has gradually failed to meet the treatment needs. The extracorporeal ultrasonic lithotripsy medical cooperative robot can solve such problems effectively, and it is equally critical for accurate modeling studies of dynamic models. Based on the previous research and experimental basis, this paper proposes a correction theory to improve the accuracy of the dynamic model for the model error in collaborative robot work. The study first establishes the dynamic model and the solid model of the collaborative robot and then subtracts the value of the dynamic model from the solid model to obtain the modified equation. Finally, the accuracy of the dynamic model is improved by modifying the equation. The experiments show that the kinetic model correction theory is effective and can improve the accuracy of the dynamic model modeling after the correction of the torque equation. The experiments show that the improved dynamic model theory is effective and can improve the modeling accuracy of the dynamic model after the correction of the torque equation. The modified equation has the best correction effect in the 5th degree polynomial and can be used for the extracorporeal ultrasonic lithotripsy medical cooperative robot control.

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Section: Improved Dynamic Model Analysis and Modelingmentioning

confidence: 99%

Section: Improved Dynamic Model Analysis and Modelingmentioning

confidence: 99%

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Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Xiao

Gong

et al. 2020

Mathematical Problems in Engineering

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“…The principle of virtual work establishes dynamic equation based on that sum of virtual work done by active force and moment, inertia force and moment are equal to zero [6]. Kane equation method solves the unknown quantity by means of the equilibrium equation about the generalized velocity, partial velocity, active force and inertial force of the rigid body [7]. When carrying out deformation coordination analysis, it is necessary to calculate the forces between components at the spherical joint.…”

Section: Introductionmentioning

confidence: 99%

High-efficiency inverse dynamics modeling of parallel posture alignment mechanism with actuation redundancy

Wang

Sun

2023

Robotica

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The analytical expression of driving force is helpful to quickly plan the kinematic trajectory of parallel mechanism for automatic drilling and riveting. For parallel posture alignment mechanism, because of its closed-loop characteristics, the inverse dynamic solution is more complex, especially for parallel bracket with actuation redundancy. Considering that the telescopic rods are actually flexible parts, the dynamic analytical modeling is carried out with deformation supplementary equation. Taking the force at the spherical joint as the intermediate variable and the driving force of each active prismatic pair are analytically analyzed by vector cross-product. The modeling was verified by experiment. Compared with previous research methods, the analytical method proposed improves the solution accuracy of driving force slightly and reduces the driving force solution time by 56.28%, which is high efficiency. The maximum error percentage is 1.61%, and the experimental results show that the method of inverse dynamics modeling is practical. This paper can be used for driving force analysis of parallel posture alignment mechanism based on positioner in the field of aircraft assembly.

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“…Lagrange method is based on the energy of the system and uses the kinetic energy and potential energy of the system to establish the energy function [9]. Kane equation is derived from the general dynamic equation and is applicable to both nonholonomic and complete systems [10]. Newton-Euler equation decomposes the motion of a rigid body into translation and rotation, which are described by Newton's law and Euler equation respectively [11,12].…”

Section: Introductionmentioning

confidence: 99%

Comparison of dynamic models for the lower limb exoskeleton based on absolute and relative coordinates

Xu¹

2022

International Conference on Mechanisms and Robotics (ICMAR 2022)

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A precise and accurate dynamic model of the lower limb exoskeleton is particularly important for the optimization of the exoskeleton mechanical structure parameters and the design of the control system. Different scholars choose different ways of modeling, which can be generally based on absolute coordinates and relative coordinates. In order to analyze the correctness of the two modeling methods, the dynamic model of the lower limb exoskeleton with 2 degrees of freedom in absolute coordinates and relative coordinates is established by using Lagrange equation. The contribution of this paper is that by comparing the torque expressions of hip and knee joint under the two modeling methods and combining with the derivation process, the correctness of the dynamic model under the two coordinate systems is qualitatively analyzed. This provides a reference for researchers to accurately model the lower limb exoskeleton.

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Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

Cited by 5 publications

References 16 publications

Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

High-efficiency inverse dynamics modeling of parallel posture alignment mechanism with actuation redundancy

Comparison of dynamic models for the lower limb exoskeleton based on absolute and relative coordinates

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