Optimum Design of 3-3 Stewart Platform Considering Inertia Property

Shao, Zhufeng; Tang, Xiaoqiang; Wang, Li Ping

doi:10.1155/2013/249121

Cited by 11 publications

(5 citation statements)

References 23 publications

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“…This backwards calculation is known as inverse kinematics. Based on the studied literature [117,159], it was possible to formulate the inverse kinematic relations for the 3-3 Stewart platform which was built. What follows will be a brief Global variables defined by the user input are sent to the PC running MATLAB, which is used to determine the length of the six legs.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

“…One of the most frequently used in various application is the UPS (Universal-Prismatic-Spherical) chain robot, which is usually called a Stewart platform (or more correctly Gough platform), 6-6 (six joints on the base and six joints on the mobile platform) robot(Figure 86)[109], or hexapod.This manipulator has been considered by many researchers, such as Sreenivasan et al[110], Nguyen et al[111], Lee and Shim[112], and others. Other configuration of 6 DoFs parallel manipulators are 6-4 robot[113], 6-3 robot[114], 5-5 robot[115], 5-4 robot, 4-4 robot[116], and 3-3 robot[117,118].…”

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confidence: 99%

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Flexible robotic device for spinal surgery

Morad

Ulbricht

Harkin

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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The copyright of this thesis rests with the author and is made available under a Creative Commons Attribution Non-Commercial No Derivatives Licence. Researchers are free to copy, distribute or transmit the thesis on the condition that they attribute it, that they do not use it for commercial purposes and that they do not alter, transform or build upon it. For any reuse or redistribution, researchers must make clear to others the licence terms of this work.

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Section: Inverse Kinematicsmentioning

confidence: 99%

mentioning

confidence: 99%

Flexible robotic device for spinal surgery

Morad

Ulbricht

Harkin

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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“…The theory of graphs is also used in the study of the behavior [37] and dynamic analysis [38] of a Stewart platform. Optimization problems for the Stewart platforms are solved in [39][40][41][42][43][44][45][46].…”

Section: Introductionmentioning

confidence: 99%

On the Vibrations of a Rigid Solid Hung by Kinematic Chains

et al. 2022

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In this paper we consider two situations. In the first, all kinematic chains are elastic, while the second situation is characterized by one rigid kinematic chain, with the rest of them being elastic. In addition, the kinematic joints are considered to be rigid. The calculations are performed using the screw coordinates. For the free vibrations of the rigid solid we determined the rigidity matrix and the eigenpulsations in both cases. It was proved that the results in the second case cannot be considered as limits for the results of the first situation, putting infinite values for the elements of the rigidity matrix of one kinematic chain. We also developed the theory for the forced vibrations of the system. A numerical application is considered and a great variety of cases are developed and discussed. The results obtained for the forced vibrations are presented and discussed. The paper combines elastic and rigid kinematic chains, as well as general configurations of the kinematic chains. The method presented here may be used for any number of kinematic chains, no matter if the structure is symmetrical or asymmetrical.

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“…Other studies on the dynamics of parallel mechanisms are focused on the principle of virtual mechanical work, which determines the inertial forces and moments acting on the mobile platform and arms. [18][19][20] Based on d'Alembert's principle, Wu et al 21 used the inverse dynamic model in the case of a parallel mechanism, and the driving force was optimized by the least square method. Applying the same principle, Cheng et al 22 developed a simple and straightforward approach to obtain the inverse dynamic model using four control algorithms.…”

Section: Introductionmentioning

confidence: 99%

A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model

Milica

Năstase

Andrei

2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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Dynamic models of several mechanical systems are used for the analysis of specific robotic mechanisms. Two different situations may be encountered. The first situation is when the robot’s command system, based on Lagrange’s differential equations, calculates the corrections of command parameters of the actuators at short intervals of time. This model includes both the characteristics of the mechanical structure and those of the actuators and transmission. A second situation is encountered during the motion planning, when a model is needed to calculate both engine parameters and inertial forces which are applied to the mechanical system during the operation. Consequently, in this study, a d’Alembert-Newton model is used for extended dynamic analysis of a new constructive solution of a parallel mechanism. The dynamic model of a HEXA parallel mechanism has been developed using the abovementioned theory, and further, the dynamic inverse solution has been obtained. The numerical results were obtained using an original algorithm. This dynamic model allows the estimation of power absorbed by each actuator and also the loading control for each kinematic chain of the HEXA parallel mechanism. Knowing the variation of driving torque, for all the six actuators of the mechanism, allows the user to choose an optimal trajectory, such as avoiding excessive loading of a single kinematic chain.

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Optimum Design of 3-3 Stewart Platform Considering Inertia Property

Cited by 11 publications

References 23 publications

Flexible robotic device for spinal surgery

Flexible robotic device for spinal surgery

On the Vibrations of a Rigid Solid Hung by Kinematic Chains

A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model

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