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Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method 被引量:6
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作者 atilla bayram 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2017年第2期449-458,共10页
Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of ... Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm. 展开更多
关键词 Parallel manipulator Variable geometry truss manipulator Planar Stewart platform. Dynamic analysis Computed force control Genetic algorithm
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沿岸物质搬运现场观测与模拟的比较
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作者 atilla bayram 郝德峰 《海洋地质动态》 2002年第7期32-36,共5页
关键词 沿岸物质搬运 现场观测 波浪 海流作用 沉积速率
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