PID Control and Stability Analysis of an ith leg of a Six Degree of Freedom Machining Bed

Shah, Muhammad Faizan; Kausar, Zareena; Ahmad, Mohammad Munir

doi:10.1016/j.promfg.2018.10.146

Cited by 5 publications

(4 citation statements)

References 10 publications

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“…e trajectory planning of the robotic arm is to plan the angle, speed, and acceleration of each degree of freedom, so that each joint can coordinate and complete the task continuously and stably [7]. e motion of the manipulator has joint friction, which in the long run will lead to the wear and tear of the manipulator structure, resulting in a large error of the manipulator [8]. Among them, the mechanical arm with more applications is shown in Figure 1.…”

Section: Robotic Arm Trajectorymentioning

confidence: 99%

Design and Simulation Analysis of Trajectory Planning Algorithm for 6-DoF Manipulator Based on Deep Learning

Zhuang

Ding

2022

Mobile Information Systems

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At present, the robot developed only has partial intelligence, and it cannot be well controlled independently for some jobs, so it should optimize its path and trajectory. However, as an industrial robotic arm robot necessary for advanced industrial manufacturing enterprises, it has been replacing humans to perform simple and repetitive actions, and it is doing better and better. For the six-degree-of-freedom (6-DoF) manipulator, this paper aims to optimize the trajectory planning of the manipulator based on deep learning technology. Therefore, this paper presents a fuzzy control algorithm for the trajectory planning of the manipulator based on the neural network algorithm. The experimental results show that for the established three-joint dynamic model, the moment received by joint 1 is the largest, followed by joint 2, and joint 3 is the smallest, which can better simulate the trajectory of the robotic arm.

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Section: Robotic Arm Trajectorymentioning

confidence: 99%

Design and Simulation Analysis of Trajectory Planning Algorithm for 6-DoF Manipulator Based on Deep Learning

Zhuang

Ding

2022

Mobile Information Systems

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“…In inverse kinematics, the position of the end effector is known, and the leg lengths are found accordingly. For parallel manipulators developing the inverse kinematics model is simpler as compared to forward kinematics [41]. For simplicity, all legs of the machining bed were considered to be identical.…”

Section: Kinematics Model Of the Machining Bedmentioning

confidence: 99%

Energy Efficient Parallel Configuration Based Six Degree of Freedom Machining Bed

et al. 2021

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The process of material removal from a workpiece to obtain the desired shape is termed machining. Present-day material removal technologies have high spindle speeds and thus allow quick material removal. These high-speed spindles are highly exposed to vibrations and, as a result, the accuracy of the final workpiece’s dimensions is compromised. To overcome this problem, the motion of the tool is restricted, and multiple degrees of freedom are given through the motion of the workpiece in different axes. A machining bed configured as a parallel manipulator capable of giving six degrees of freedom (DOF) to the workpiece is proposed in this regard. However, the proposed six DOF machining bed should be energy efficient to avoid an increase in machining cost. The benefit of using the proposed configuration is a reduction in dimensional error and computational time which, as a result, reduces the energy utilization, vibrations, and machining time in practice. This paper presents kinematics, dynamics and energy efficiency models, and the development of the proposed configuration of the machining bed. The energy efficiency model is derived from the dynamics model. The models are verified in simulation and experimentally. To minimize error and computation time, a PID controller is also designed and tested in simulation as well as experimentally. The resulting energy efficiency is also analyzed. The results verify the efficacy of the proposed configuration of the machining bed, minimizing position error to 2% and reducing computation time by 27%, hence reducing the energy consumption and enhancing the energy efficiency by 60%.

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“…e Stewart 6-DOF platform is a typical parallel mechanism, which connects the base and the moving platform through six kinematic chains and controls the movement of the platform. Because its design and research involve a series of high and new technology fields such as machinery [1], hydraulic [2][3][4], control [5], computer, signal [6], and sensor [7], it has integrated the knowledge of multiple disciplines such as electromechanical and hydraulic and has been attached great importance by the academic circles [8]. In addition, compared with the series mechanism, the platform has the advantages of stable structure and high precision [9] and is widely applied to machine tools [10], vehicles [11], medical equipment [12], sensors [13], spacecraft [14,15], telescopes [16], and other fields.…”

Section: Introductionmentioning

confidence: 99%

Parametric Vibration Analysis of a Six‐Degree‐of‐Freedom Electro‐Hydraulic Stewart Platform

Yuan

Tang

Wang

et al. 2021

Shock and Vibration

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Electro-hydraulic Stewart 6-DOF platform is a 6-DOF parallel mechanism combined with the electro-hydraulic servo control system, which is widely used in the field of construction machinery. In actual working conditions, the flow and pressure pulsation of the hydraulic oil output from the hydraulic leg of the electro-hydraulic Stewart platform are inevitable, so the equivalent stiffness of the platform leg will change, and the stiffness parameters of the transmission system will change, resulting in vibration, which will affect the accuracy of the platform. This paper considering the fluid unit equivalent stiffness cyclical fluctuations and leg, on the basis of the relationship between hydraulic stiffness, constructs the electric hydraulic Stewart platform machine vibration dynamics equation, fluid coupling parameters of vibration parameters using the method of the multiscale approximate analytic formula of the main resonance and combination resonance are derived, and the system parameters vibration time-domain response and frequency response under two different poses are discussed. Results show that the system first to six order natural frequency and the first to the sixth order natural frequency and frequency of hydraulic oil equivalent stiffness of the combination of frequency will have an effect on the parameters of the system vibration. In the main resonance, the dominant frequency is mainly the first to sixth order natural frequency of the system; in the combined resonance, the dominant frequency is the combined frequency. Through the parameter vibration analysis of two different positions of the platform, it is concluded that when the platform is in an asymmetric position, each leg of the system is more involved in vibration. This study can provide the reference for the subsequent dynamic optimization and reliability analysis of the electro-hydraulic Stewart platform.

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PID Control and Stability Analysis of an ith leg of a Six Degree of Freedom Machining Bed

Cited by 5 publications

References 10 publications

Design and Simulation Analysis of Trajectory Planning Algorithm for 6-DoF Manipulator Based on Deep Learning

Design and Simulation Analysis of Trajectory Planning Algorithm for 6-DoF Manipulator Based on Deep Learning

Energy Efficient Parallel Configuration Based Six Degree of Freedom Machining Bed

Parametric Vibration Analysis of a Six‐Degree‐of‐Freedom Electro‐Hydraulic Stewart Platform

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