Optimal design of 6-DOF vibration isolation platform based on transfer matrix method for multibody systems

Jiang, Min; Rui, Xiaoting; Zhu, Wei; Yang, Fufeng; Zhang, Yanni

doi:10.1007/s10409-020-01004-8

Cited by 37 publications

(8 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…the undamped natural frequency. Equation (10) was used in the Finite Element Model to obtain the dynamic response of the structure. The FE model was created using Hypermesh as preprocessing software, running analysis with OPTISTRUCT, and post processing with Hyperview.…”

Section: Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Response of the Inertial Platform of the Laser ELI-NP Magurele-Bucharest Facility

Itu

Bratu²,

Drăgan³

et al. 2022

Mathematics

View full text Add to dashboard Cite

Previous studies on the vibrational behavior of the inertial platform installed at ELI-NP, in Magurele-Bucharest have reported eigenfrequencies in the domain in which excitations can occur from earthquakes which manifests itself periodically in this geographical area. The paper aimed to study the vibrational response that may occur, due to human activities or natural phenomena (earthquakes), at the inertial platform of the Laser + Gamma building within the ELI-NP complex. The large mass of the platform, 54,000 tons in full condition, must ensure that the experiments are carried out without being disturbed by unwanted vibrations. The laser and gamma beam must be very precisely positioned and the shocks and vibration from the external environment must be damped or absorbed. To realize this, the behavior of the inertial concrete platform at external excitations was studied based on a model with finite elements. The response to the forced vibrations of the platform and the possible behavior in case of an earthquake were obtained.

show abstract

Section: Methodsmentioning

confidence: 99%

“…Various methods have been used to address such a problem, for example, genetic sorting algorithms [9]. More sophisticated models of vibration isolation of a rigid elastic suspension are presented by other authors [10]. Active vibration isolation systems were presented in Ref.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Response of the Inertial Platform of the Laser ELI-NP Magurele-Bucharest Facility

Itu

Bratu²,

Drăgan³

et al. 2022

Mathematics

View full text Add to dashboard Cite

show abstract

“…The extolling virtues of the DT-TMM have brought about the use of this method in kinematic and dynamic analysis and the optimization of rigid parallel manipulators such as Stewart platform (Jiang et al, 2020(Jiang et al, , 2021 and a planar 3-PRR manipulator (Si et al, 2020). After when the DT-TMM was used to examine the small deformation of a single flexible link manipulator under feedback control (Krauss and Okasha, 2013), the acceleration-based DT-TMM was proposed for flexible link manipulators (Zhang et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Efficient technique in computational dynamic modeling of a flexible manipulator with large deformation

Feyzollahzadeh

Bamdad

2022

Journal of Vibration and Control

View full text Add to dashboard Cite

In the flexible manipulators, the links could be modeled using rigid elements and torsional springs, and similarly, the flexibility in actuators could be represented with the equivalent springs. This study applies the discrete time transfer matrix method for the dynamic analysis of flexible manipulators with large deformations. On a first-priority basis, transfer matrices are determined, including all the flexible link/joint mechanism components. A single transfer matrix is established for prismatic and rotational actuators with equivalent springs to build the robotic transfer matrix library. On the second priority, to reduce the computation time, a novel algorithm is developed. In the proposed flexible link discretization, the first element of the flexible link is considered as a function of other elements. It is designed to build a mathematical model as closely as possible to the realistic model with fewer elements. It is presented that this modeling technique can employ discrete data extracted by the sensors. The simulation primarily focuses on developing flexible beam/joint models validated in ADAMS. Besides, the dynamic behavior of a flexible PR robot with external forces acting on the linkage system is analyzed and examined. The result shows that the proposed modeling method affords a low computational time while the manipulator control needs to manage fast responses.

show abstract

“…By optimizing structural parameters to suppress vibration, the natural frequency is a widely used index. [2][3][4] To reduce vibrations of robot manipulators, many researchers have focused preferentially on control strategies. A popular study object is the single-link flexible manipulator system.…”

Section: Introductionmentioning

confidence: 99%

An integrated structure and control design of a coaxis planar parallel manipulator for pick-and-place applications based on elastic potential energy

Liao

Gao

Lou

2021

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

During high-speed pick-and-place operations, elastic deformations are quite apparent if the mass of the manipulator is low. These irregular deformations are accompanied by vibrations, then errors. Since elastic potential energy reflects elastic deformation, the vibration of the whole manipulator can be controlled well when the elastic potential energy is decreased. In this article, to design manipulators with flexible links for pick-and-place operations, an integrated structure and control design framework is proposed. The dynamic model of a coaxis planar parallel manipulator is obtained by the finite element method, an effective method. A proportional–derivative controller is utilized for this industrial application. Simultaneously, the optimal structural and control parameters are derived by minimizing the elastic potential energy via integrated design, in which actuated systems and accuracies are regarded as constraints. Finally, simulations show that the performance of the parallel manipulator is improved by this design methodology.

show abstract

Optimal design of 6-DOF vibration isolation platform based on transfer matrix method for multibody systems

Cited by 37 publications

References 23 publications

Dynamic Response of the Inertial Platform of the Laser ELI-NP Magurele-Bucharest Facility

Dynamic Response of the Inertial Platform of the Laser ELI-NP Magurele-Bucharest Facility

Efficient technique in computational dynamic modeling of a flexible manipulator with large deformation

An integrated structure and control design of a coaxis planar parallel manipulator for pick-and-place applications based on elastic potential energy

Contact Info

Product

Resources

About