Synthesis of a Multi-Connected Digital Controller for a Robotized Vibration Isolation Platform Based on H∞- Optimization

The article presents a technique for modeling the operation of the parallel structure mechanism - the Hugh-Stewart robotic platform using a virtual prototype. The MSC Adams software package and the high-level general-purpose object-oriented programming language Python were used as modeling tools. The digital layout, which has the properties of a parameterized simulation model, is built in the MSC Adams software package. The Python programming language is used as an alternative to the Adams View internal command language for creating and iteratively modifying modeling objects in Adams. The proposed implementation of the Python-Adams interface in the form of special procedures and functions automates the execution of a computational experiment and allows solving the problem of optimizing structural elements and finding the optimal geometric design of the hexapod in accordance with the selected optimality criteria by conducting a series of experiments consisting in sequential multiple changes in geometric parameters, followed by simulation model and analysis of the results in order to find design options that meet the specified criteria. The technique was tested on the example of optimizing the diameter of the platform according to the criterion of minimizing the effort expended when moving along a given trajectory. The results of a computational experiment are also presented to determine the dynamic parameters (forces, moments of forces) in the structural elements when the platform moves along a complex trajectory, to identify undesirable positions in which peak loads occur.

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Evaluation of Kinematic and Dynamic Parameters of the Hough-Steuart Platform Using a Virtual Prototype

Duyun

Kornilov

Duyun

2022

Bulletin of Belgorod State Technological University Named After. V. G. Shukhov

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Co-Simulation Parallel Manipulator Movements Using Adams-Matlab

Duyun

Горлов

Duyun

2022

Bulletin of Belgorod State Technological University Named After. V. G. Shukhov

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The article presents the methods and results of the analysis of the movement of a modeling manipulator such as the Hugh-Stewart platform using Adams-Matlab in order to check and develop a possible trajectory of the working body. Application of Matlab Simulink for solving kinematics problems: determining the extension length of rods along a given trajectory of the movement of the working body. A feature of the Simulink application scheme is the export of physical and mechanical parameters of a solid model from Adams. Mutual integration of Matlab Simulink and Adams View evaluate the implementation of the possibility of implementing a kinematic, comprehensive and force analysis of the mechanism, taking into account its design features due to the use of an apparent prototype. The proposed method of joint modeling is presented in the form of a detailed description of the content of Simulink circuit blocks, their interaction in modeling, the exact mathematical apparatus and the conditions for implementing mutual thoroughness of the Matlab and Adams software packages. The technique was tested on the ascent from constructive platforms while moving along a sexual character such as a given trajectory. The results of a computational experiment are proposed and an analysis is made of the coordinate correspondence of the actual trajectory obtained as a result of modeling in joint simulation with the initial given trajectory for various types of motion.

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Synthesis of a Multi-Connected Digital Controller for a Robotized Vibration Isolation Platform Based on H∞- Optimization

Cited by 2 publications

References 13 publications

Evaluation of Kinematic and Dynamic Parameters of the Hough-Steuart Platform Using a Virtual Prototype

Evaluation of Kinematic and Dynamic Parameters of the Hough-Steuart Platform Using a Virtual Prototype

Co-Simulation Parallel Manipulator Movements Using Adams-Matlab

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