Inertia Match of a 3-RRR Reconfigurable Planar Parallel Manipulator

Inertia match of the parallel manipulator means the ratio of the inertial load of the parallel manipulator converted to each actuator shaft and the moment of inertia of the actuator is kept within a reasonable range. Currently there are many studies on parallel manipulators, but few mention inertia parameters and inertia match of parallel manipulators. This paper focuses on the inertia characteristics of the 3-RRR reconfigurable planar parallel manipulator. On the basis of the inverse dynamic formulations deduced with the principle of virtual work, the inertia matrix of the 3-RRR planar parallel manipulator in the actuator space is obtained in algebraic form. Then, by unifying the dimension and averaging diagonal elements of the inertia matrix, the equivalent inertia of the parallel manipulator, which is the inertial load of the parallel manipulator converted to each actuator shaft, is determined. By transforming the inertia problem of the 3-RRR parallel manipulator into that of the serial multi-bar manipulator, the practicality of the equivalent inertia deduced by inverse dynamics is demonstrated. According to the physical meaning of the inertia equation, the manipulator is divided in to three parts. Further analysis is carried out on the contribution of each part to the equivalent inertia and their distributions in the required workspace, revealing that the passive links cannot ignored in calculating the equivalent inertia of the parallel manipulator. Finally, the inertia match for the 3-RRR reconfigurable parallel manipulator under three configurations is accomplished, and reducers are selected. The equivalent inertia calculation and the inertial match results illustrate that the inertia math is a necessary step to the design of the parallel manipulator, and inertia parameters dramatically affect dynamic performances of parallel manipulators. Besides, the equivalent inertia and inertial match principles, proposed in the paper, can be widely applied in the dynamic analysis and servomotors selecting for the parallel manipulator.

A Unified Control of Super-capacitor System Based on Bi-directional DC-DC Converter for Power Smoothing in DC Microgrid

To improve the equivalent inertia of DC microgrids(DCMGs),a unified control is proposed for the first time for a bi-directional DC-DC converter based super-capacitor(SC)system,whereby power smoothing and SC terminal voltage regulation can be achieved in a DCMG simultaneously.The proposed control displays good plug-and-play features using only local measurements.For quantitative analysis and effective design of the critical parameter of unified control,two indices,equivalent power supporting time and inertia contributed by the unified controlled SC system,are introduced firstly.Then,with a simple but effective reduced-order model of a DCMG,analytical solutions are obtained for the two indices.In addition,a systematic design method is presented for the proposed unified control.Finally,to verify the proposed unified control,a switching model is developed for a typical DCMG in PSCAD/EMTDC,and theoretical analyses are conducted for different operating conditions.

Research on Hydraulic System of Hydraulic Driven Garden Pulverizer Based on AMESim Simulation

To analyze a certain type of trees crusher working condition, to consider the limitation of electric, the motor driven pulverizer can only work in a fixed place. Therefore, a set of hydraulic system is used to replace the motor. So it can get rid of electricity, and move conveniently, applying to the suburbs, parks, roadsides, which means expanding the range of application. Secondly, in view of the pulverizer speed higher than the motor speed, it is necessary to add the auxiliary speed regulating device. Besides , to adjust speed is more troublesome, and the hydraulic motor can directly drive the pulverizer. Therefore to adjust the flow of the hydraulic motor can change the speed of the pulverizer. In addition, base on the characteristics of work start, and stop, with a long time, big moment of inertia for Pulverizer, and it is the growth process of the motor driving pulverizer. The rotary inertia equivalent to the motor end will increase the square of the reduce ratio, and the load of the machine obviously. Driving by hydraulic motor straightly, and this problem will be avoided. Finally, in the light of the large start-up torque, and the high speed at working time of the pulverizer, the constant power pumps is choosed to meet the work demand. Constant power pumps can adjust the flow and pressure according to the different load automatically, thus more energy are saved. Hydraulic system simulation model is established based on the AMESim simulation, which verify the scheme is feasible