Modeling and Control of 3-PRS parallel robot and simulation based on SimMechanics in MATLAB

Fatehi, Mohammad H.; Vali, Ahmad Reza; Eghtesad, Mohammad; Fatehi, Alireza

doi:10.1109/icciautom.2011.6356760

Cited by 4 publications

(4 citation statements)

References 14 publications

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“…Cuando se ha terminado el planteamiento de las ecuaciones, es posible realizar simulaciones tanto de la cinemática inversa como de la directa, con el fin de observar el cambio de las longitudes de los actuadores o de losángulos a través del tiempo. Normalmente, estas simulaciones son realizadas en Matlab, de la misma forma que se hace para el estudio de las singularidades [58].…”

Section: Figura 8: Representación Vectorial Para El Cálculo De La Cinunclassified

Generalidades de robots paralelos

Barón¹,

Pinilla²

2016

Vis. Electron.

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Los robots paralelos son utilizados en diversas áreas como la simulación de movimiento, la medicina y la manufactura, entre otras. Se han diseñado y construido numerosos de ellos teniendo en cuenta aspectos como grados de libertad, modelos matemáticos que aproximan la dinámica real del sistema donde actúan, y las estrategias de control para que respondan adecuadamente ante perturbaciones. El presente artículo describe las generalidades de robots paralelos con el fin de dar a conocer sus aplicaciones industriales, arquitecturas y notación, métodos y representaciones matemáticas necesarias para el análisis de su movilidad, el cálculo de la cinemática y la dinámica presentes, el estudio del espacio de trabajo, así como las estrategias de control implementadas. Se describen las investigaciones y desarrollos futuros que pueden realizarse en esta área de la robótica, así como una amplia revisión bibliográfica que permite al lector incursionar profundamente en cualquier aspecto que le sea de interés.

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Section: Figura 8: Representación Vectorial Para El Cálculo De La Cinunclassified

Generalidades de robots paralelos

Barón¹,

Pinilla²

2016

Vis. Electron.

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“…With module database, we can build a complex mechanical model to realize the simulation of the mechanical structure. Meantime, driver and the sensor modules are effective ways to connect Simmechanics with Simulink [21,22]. As shown in Fig.…”

Section: The Toolbox and The Modelmentioning

confidence: 99%

Kinematic analysis and simulation of a new-type robot with special structure

Guo

et al. 2014

Adv. Manuf.

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Common methods, such as Denavit-Hartenberg (D-H) method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics (a tool box of MATLAB) with these equation solutions. It is necessary to design a graphical user interface (GUI) for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.

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“…It is commonly used in the modular manufacturing system, serial-parallel machine tool, the micro mechanism and special robots [4,5]. There are many the kinematics and dynamics research about 3-PRS mechanism [6,7,8]. There are many report about Serial-parallel mechanism based on 3-PRS mechanism [9].…”

Section: Introductionmentioning

confidence: 99%

Research on CNC of FSW with Serial-Parallel Structure Based on 3-PRS Mechanism

Wei

Wang

et al. 2015

KEM

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With the increase of welding thickness, Friction stir welding equipment (FSW) with traditional milling machine structure could not meet the requirements of stiffness which to support the huge axis load. Therefore, a FSW with serial-parallel mechanism based on 3-PRS platform was proposed. In order to complete real-time control and the actual and virtual axis control of the equipment, the positive solution and inverse solution (based on Newton-Euler method) of the FSW are analyzed. Then, based on the PA system, the open CNC of the equipment is designed, and the inverse kinematics and the numerical positive kinematics based on Newton-Euler method are embedded into the interpolation of NC system. According to the demand of the equipment, human-machiner interface (HMI) is developed to display the positions of actual and virtual axis for the equipment, and compiler and interpolation are designed. At the same time, online real-time 3D motion simulation is designed, space pose of spindle and whole for the equipment are deduced. In the paper, design method of CNC based on the serial-parallel mechanism is provided.

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Modeling and Control of 3-PRS parallel robot and simulation based on SimMechanics in MATLAB

Cited by 4 publications

References 14 publications

Generalidades de robots paralelos

Generalidades de robots paralelos

Kinematic analysis and simulation of a new-type robot with special structure

Research on CNC of FSW with Serial-Parallel Structure Based on 3-PRS Mechanism

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