Rigid-Flexible Modal Analysis of the Hydraulic 6-DOF Parallel Mechanism

Zhang, Chenyang; Jiang, Hongzhou

doi:10.3390/en14061604

Cited by 6 publications

(2 citation statements)

References 18 publications

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“…At neutral pose the body axes {p} attached to the moving platform are parallel to and coincide with the inertial frame {B} fixed to the base with its origin at the geometric centre of the base platform. Kinematics and dynamics analysis of the 6 DOF parallel mechanisms has been well established and can be found in several literatures [9][10][11][12][13].…”

Section: Six Degrees Of Freedom Pm Kinematicsmentioning

confidence: 99%

Modal Space Controller for Hydraulically Driven Six Degree of Freedom Parallel Manipulator

Ogbobe¹,

Okoye²

2022

int. j. eng. mgmt. res.

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This paper presents the Modal space decoupled control for a hydraulically driven parallel mechanism has been presented. The approach is based on singular values decomposition to the properties of joint-space inverse mass matrix, and mapping of the control and feedback variables from the joint space to the decoupling modal space. The method transformed highly coupled six-input six-output dynamics into six independent single-input single-output (SISO) 1 DOF hydraulically driven mechanical systems. The novelty in this method is that the signals including control errors, control outputs and pressure feedbacks are transformed into decoupled modal space and also the proportional gains and dynamic pressure feedback are tuned in modal space. The results indicate that the conventional controller can only attenuate the resonance peaks of the lower eigenfrequencies of six rigid modes properly, and the peaking points of other relative higher eigenfrequencies are over damped, The further results show that it is very effective to design and tune the system in modal space and that the bandwidth increased substantially except surge (x) and sway (y) motions, each degree of freedom can be almost tuned independently and their bandwidths can be increased near to the undamped eigenfrequencies.

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Section: Six Degrees Of Freedom Pm Kinematicsmentioning

confidence: 99%

Modal Space Controller for Hydraulically Driven Six Degree of Freedom Parallel Manipulator

Ogbobe¹,

Okoye²

2022

int. j. eng. mgmt. res.

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“…However, redundantly actuated parallel mechanisms present challenges in dynamic modeling due to their complexity and computational requirements. Several methods have been proposed to analyze the dynamics of multi-rigid-body systems, including Lagrange equations [2,3], Newton-Euler equations [4][5][6], virtual work principles [7][8][9][10], Kane equations [11,12], and Gibbs-Appell equations [13,14]. The analysis of multi-rigid-body systems often relies on mathematical methods from classical mechanics and vector equations [7,15].…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Dynamics Analysis of a 3UPS-UPU-S Parallel Mechanism

Zhao,

Sun,

Wei

2023

Machines

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In this paper, a two-rotational degrees of freedom parallel mechanism with five kinematic subchains (3UPS-UPU-S) (U, P, and S stand for universal joints, prismatic joints, and spherical joints) for an aerospace product is introduced, and its kinematic and dynamic characteristics are subsequently analyzed. The kinematic and dynamic analyses of this mechanism are carried out in screw coordinates. Firstly, the inverse kinematics is performed through the kinematic equations established by the velocity screws of each joint to obtain the position, posture, and velocity of each joint within the mechanism. Then, a dynamic modeling method with screw theory for multi-body systems is proposed. In this method, the momentum screws are established by the momentum and moment of momentum according to the fundamentals of screws. By using the kinematic parameters of joints, the dynamic analysis can be carried out through the dynamic equations formed by momentum screws and force screws. This method unifies the kinematic and dynamic analyses by expressing all parameters in screw form. The approach can be employed in the development of computational dynamics because of its simplified and straightforward analysis procedure and its high adaptability for different kinds of multi-body systems.

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