An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H...An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.展开更多
Based on the coordinate rotation digital computer(CORDIC)algorithm,the high-speed kinematicscalculation for a six degree of freedom(DOF)space manipulator is implemented in a field programmablegate array(FPGA)co-proces...Based on the coordinate rotation digital computer(CORDIC)algorithm,the high-speed kinematicscalculation for a six degree of freedom(DOF)space manipulator is implemented in a field programmablegate array(FPGA)co-processor.A pipeline architecture is adopted to reduce the complexity and time-consumption of the kinematics calculation .The CORDIC soft-core and the CORDIC-based pipelined kine-matics calculation co-processor are described with the very-high-speed integrated circuit hardware descrip-tion language(VHDL)language and realized in the FPGA .Finally,the feasibility of the design is vali-dated in the Spartan-3 FPGA of Xilinx Inc.,and the performance specifications of FPGA co-processor arediscussed.The results show that time-consumption of the kinematics calculation is greatly reduced.展开更多
The sloshing flows in a LNG cargo tank model （1/50 scale） of a ship are measured by an embedded pano- ramicPIV system. The measurement system consists of a Nd-Yag laser（120mJ, 15Hz）, two cameras（lk x lk） and a h...The sloshing flows in a LNG cargo tank model （1/50 scale） of a ship are measured by an embedded pano- ramicPIV system. The measurement system consists of a Nd-Yag laser（120mJ, 15Hz）, two cameras（lk x lk） and a host computer. Four experimental cases were tested for the tank model, in which swaying motions are made by a 6 DOF-motion platform. The amplitudes of swaying are 9.76mm and 29.29mm, and the swaying frequencies are 0.633Hz and 0.828Hz. The measurement regions are the vertical plane 50ram away from the front wall of the tank where a pump tower is installed. It was verified that the flow patterns of the sloshing are similar to each other when the swaying amplitudes are similar.展开更多
Free-moving simulations of airplanes, submarines and other automobiles under extreme and emergency conditions are becoming increasingly important from operational and tactical perspectives. Such simulations are fairly...Free-moving simulations of airplanes, submarines and other automobiles under extreme and emergency conditions are becoming increasingly important from operational and tactical perspectives. Such simulations are fairly challenging due to the extreme unsteady motions and high Re(Reynolds) numbers. The aim of this study is to perform a six-DOF motion simulation of a 6:1prolate spheroid that is falling in a fluid field. Prior to conducting the six-DOF simulation, some verification simulations were performed. First, a laminar flow past an inclined prolate spheroid at a Re number of 1000 and incidence angle of 45. with a tetrahedral mesh was simulated to verify the relevant targeted discrete method for an unstructured mesh. Second, to verify the LES(large eddy simulation) models and dependent parameters for the DDES(delayed detached eddy simulation), a turbulent flow past a sphere was performed at a subcritical Re number of 10000. Third, a steady maneuvering problem about a prolate spheroid pitching up from 0. to 30. incidence at a uniform angular velocity was established based on a dynamic tetrahedral mesh with changing topology and the ALE(arbitrary Lagrangian-Eulerian) method of fluid-structure coupling at a Re number of 4.2 × 10~6.Finally, two six-DOF motions of an inclined 6:1 prolate spheroid at an initial incidence of 45. were simulated at different Re numbers of 10000 and 4.2 × 10~6.展开更多
基金Project(2013CB035504)supported by the National Basic Research Program of China
文摘An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.
基金supported by the High Technology Research and Development Programme of China(No.2005AA742050)
文摘Based on the coordinate rotation digital computer(CORDIC)algorithm,the high-speed kinematicscalculation for a six degree of freedom(DOF)space manipulator is implemented in a field programmablegate array(FPGA)co-processor.A pipeline architecture is adopted to reduce the complexity and time-consumption of the kinematics calculation .The CORDIC soft-core and the CORDIC-based pipelined kine-matics calculation co-processor are described with the very-high-speed integrated circuit hardware descrip-tion language(VHDL)language and realized in the FPGA .Finally,the feasibility of the design is vali-dated in the Spartan-3 FPGA of Xilinx Inc.,and the performance specifications of FPGA co-processor arediscussed.The results show that time-consumption of the kinematics calculation is greatly reduced.
基金supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MEST) (No. 2008-0060153)
文摘The sloshing flows in a LNG cargo tank model （1/50 scale） of a ship are measured by an embedded pano- ramicPIV system. The measurement system consists of a Nd-Yag laser（120mJ, 15Hz）, two cameras（lk x lk） and a host computer. Four experimental cases were tested for the tank model, in which swaying motions are made by a 6 DOF-motion platform. The amplitudes of swaying are 9.76mm and 29.29mm, and the swaying frequencies are 0.633Hz and 0.828Hz. The measurement regions are the vertical plane 50ram away from the front wall of the tank where a pump tower is installed. It was verified that the flow patterns of the sloshing are similar to each other when the swaying amplitudes are similar.
基金supported by the National Natural Science Founation of China(Grant No.11572350)
文摘Free-moving simulations of airplanes, submarines and other automobiles under extreme and emergency conditions are becoming increasingly important from operational and tactical perspectives. Such simulations are fairly challenging due to the extreme unsteady motions and high Re(Reynolds) numbers. The aim of this study is to perform a six-DOF motion simulation of a 6:1prolate spheroid that is falling in a fluid field. Prior to conducting the six-DOF simulation, some verification simulations were performed. First, a laminar flow past an inclined prolate spheroid at a Re number of 1000 and incidence angle of 45. with a tetrahedral mesh was simulated to verify the relevant targeted discrete method for an unstructured mesh. Second, to verify the LES(large eddy simulation) models and dependent parameters for the DDES(delayed detached eddy simulation), a turbulent flow past a sphere was performed at a subcritical Re number of 10000. Third, a steady maneuvering problem about a prolate spheroid pitching up from 0. to 30. incidence at a uniform angular velocity was established based on a dynamic tetrahedral mesh with changing topology and the ALE(arbitrary Lagrangian-Eulerian) method of fluid-structure coupling at a Re number of 4.2 × 10~6.Finally, two six-DOF motions of an inclined 6:1 prolate spheroid at an initial incidence of 45. were simulated at different Re numbers of 10000 and 4.2 × 10~6.
