The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of ...The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of 4-DOF parallel mechanism with spherical joints and prismatic pairs,and 2-DOF serial mechanism with prismatic pairs. With this design,the platform has advantages of low platform countertop,big workspace,high carrying capacity and high stiffness. On the basis of DOF analysis and computation of space mechanism,weight supporting auxiliary mechanism and raceways-balls supporting mechanism are designed,so as to improve the stiffness of designed large platform and payload capacity of servo motors. And then the whole structure design work of the platform is done. Meanwhile,this paper derives the analytical solutions of forward kinematics, inverse kinematics and inverse dynamics. The error analysis model of position and orientation is established. And then the simulation is done in ADAMS to ensure the correctness and feasibility of this design.展开更多
The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is p...The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is proposed to establish the model of PMA.The concept of hybrid elastic modulus which is related to the static characteristic of PMA is put forward,and the energy conservation law is used to achieve the expression of the hybrid elastic modulus,which can be fitted out based on experimental data,and the model of PMA can be derived from this expression.At the same time,a 3-DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is designed.This bionic shoulder joint adopts the structure of two antagonistic PMAs actualizing a rotation control and three PMAs controlling another two rotations to get better rotation characteristics.The kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control it.Experimental results demonstrate the effectiveness of this new static model.展开更多
A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Base...A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.展开更多
In view of the structure of traditional five-coord in ate machine tool, the work-piece and machine tool often move along their respec tive guides simultaneously on the whole. In this kind of machine structure, the tot...In view of the structure of traditional five-coord in ate machine tool, the work-piece and machine tool often move along their respec tive guides simultaneously on the whole. In this kind of machine structure, the total mass of moving parts including work-pieces, fixtures, rotating table, wor king table and so on is often very large. Besides, the elastic reform of transmi ssion and the viscous friction force of the guide can not be ignored. As a resul t, the machine tool can not move with high velocity and acceleration, and can no t meet the needs of modern fast and efficient production. The emergence of virtual-axis machine tool has provided a new approach for the solution of the above problems. The kernel of the virtual-axis machine tool is the parallel mechanism. So far, research of parallel mechanism in the world has achieved many results and various applied equipments based on parallel mecha nism have been worked out, but the research generally focuses on the working spa ce and kinematics analysis, dynamics are rarely considered. To meet the requirements of the modern fast and efficient production, reduce the cost and promote the machine tool’s acceleration character, not only should we analyze the kinematics of machine tool, but also we should study its dynamics a nd optimize the structure on the basis of analysis. In this paper, the kinem atics and dynamics of a 5-DOF (degrees of freedom) machine tool with novel para llel mechanism that has three moving DOF and one rotating DOF are studied by Rob ot-Wittenberg method. The dynamics character of the parallel robotic machine is analyzed and used to guide the structure design of machine tool. At last, the c orrectness is verified through a numerical simulation of 5-DOF. Hence, the dyna mics model can generally solve the problems existing in the parallel and hybrid machine tools. The dynamics character of the parallel robotic machine is studied and analyzed in quantity. The dynamics equation of the system can be written as This is a set of differential equations of four DOF system. Theoretically, the c losed solution of the forward and inverse problems can be gained by solving the above equations. The system equations quite suit to program at the computer. Whe n the forces are given, the state variables’ numerical solution can be gain ed through integral; and when the dynamics parameters are given, the forces can also be solved. But the multiple valued phenomena can not be avoided. We have developed simulation software based on the dynamics model presented by t his paper. The different effects of the structure parameters can be given by numerical simulation.展开更多
基金Sponsored by the National High-Tech Research and Development Program(Grant No.2006AA04Z201)
文摘The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of 4-DOF parallel mechanism with spherical joints and prismatic pairs,and 2-DOF serial mechanism with prismatic pairs. With this design,the platform has advantages of low platform countertop,big workspace,high carrying capacity and high stiffness. On the basis of DOF analysis and computation of space mechanism,weight supporting auxiliary mechanism and raceways-balls supporting mechanism are designed,so as to improve the stiffness of designed large platform and payload capacity of servo motors. And then the whole structure design work of the platform is done. Meanwhile,this paper derives the analytical solutions of forward kinematics, inverse kinematics and inverse dynamics. The error analysis model of position and orientation is established. And then the simulation is done in ADAMS to ensure the correctness and feasibility of this design.
基金supported by the National Natural Science Foundation of China(No. 51405229)the Natural Science Foundation of Jiangsu Province of China(Nos. BK20151470,BK20171416)
文摘The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is proposed to establish the model of PMA.The concept of hybrid elastic modulus which is related to the static characteristic of PMA is put forward,and the energy conservation law is used to achieve the expression of the hybrid elastic modulus,which can be fitted out based on experimental data,and the model of PMA can be derived from this expression.At the same time,a 3-DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is designed.This bionic shoulder joint adopts the structure of two antagonistic PMAs actualizing a rotation control and three PMAs controlling another two rotations to get better rotation characteristics.The kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control it.Experimental results demonstrate the effectiveness of this new static model.
基金Preject 50225519 supported by the National Outstanding Youth Science Foundation of China
文摘A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.
文摘In view of the structure of traditional five-coord in ate machine tool, the work-piece and machine tool often move along their respec tive guides simultaneously on the whole. In this kind of machine structure, the total mass of moving parts including work-pieces, fixtures, rotating table, wor king table and so on is often very large. Besides, the elastic reform of transmi ssion and the viscous friction force of the guide can not be ignored. As a resul t, the machine tool can not move with high velocity and acceleration, and can no t meet the needs of modern fast and efficient production. The emergence of virtual-axis machine tool has provided a new approach for the solution of the above problems. The kernel of the virtual-axis machine tool is the parallel mechanism. So far, research of parallel mechanism in the world has achieved many results and various applied equipments based on parallel mecha nism have been worked out, but the research generally focuses on the working spa ce and kinematics analysis, dynamics are rarely considered. To meet the requirements of the modern fast and efficient production, reduce the cost and promote the machine tool’s acceleration character, not only should we analyze the kinematics of machine tool, but also we should study its dynamics a nd optimize the structure on the basis of analysis. In this paper, the kinem atics and dynamics of a 5-DOF (degrees of freedom) machine tool with novel para llel mechanism that has three moving DOF and one rotating DOF are studied by Rob ot-Wittenberg method. The dynamics character of the parallel robotic machine is analyzed and used to guide the structure design of machine tool. At last, the c orrectness is verified through a numerical simulation of 5-DOF. Hence, the dyna mics model can generally solve the problems existing in the parallel and hybrid machine tools. The dynamics character of the parallel robotic machine is studied and analyzed in quantity. The dynamics equation of the system can be written as This is a set of differential equations of four DOF system. Theoretically, the c losed solution of the forward and inverse problems can be gained by solving the above equations. The system equations quite suit to program at the computer. Whe n the forces are given, the state variables’ numerical solution can be gain ed through integral; and when the dynamics parameters are given, the forces can also be solved. But the multiple valued phenomena can not be avoided. We have developed simulation software based on the dynamics model presented by t his paper. The different effects of the structure parameters can be given by numerical simulation.
