This paper sets up a robotic manipulator model on slewing crane. The model can synthetically describe the dynamic behavior of the load of slewing crane in rotating, elevating and hoisting motions. The dynamic equation...This paper sets up a robotic manipulator model on slewing crane. The model can synthetically describe the dynamic behavior of the load of slewing crane in rotating, elevating and hoisting motions. The dynamic equations of the system are recursively derived by a Newton Euler method. The dynamic behavior of the load of slewing crane in rotating motion is simulated on a computer. The method of robotic dynamics to derive the dynamic equations of the swing of load is accurate and convenient and it has good regularity. The result of the study provides a base in theory on design of crane and an accurate mathematical model for controlling the swing of load.展开更多
This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobi...This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobile platform.First,an SPM-centered mobile platform,featuring two redundant and another unconstrained Degree of Freedom(DOF),and its suspension support mechanism are designed together,collectively constructing a WDPR endowed with kinematic redundancy.Afterward,the kinematics of the mechanism,boundary equations for the redundant DOFs,and relevant kinematic performance indices are then proposed and formulated.The results from both prototype experiments and numerical assessments are presented.The capability of the support mechanism to replicate the complex coupled motions of the SPM is verified by the experimental results,while the proposed kinematics and boundary equations are also validated.Furthermore,it is revealed by numerical assessments that the redundant DOFs of the mobile platform exert a minimal impact on the kinematic performance of the suspension support.Finally,the optimal global attitude performance is obtained when these DOFs are set to zero if they are restricted to constants.However,local attitude performance can be further improved by the variable values.展开更多
文摘This paper sets up a robotic manipulator model on slewing crane. The model can synthetically describe the dynamic behavior of the load of slewing crane in rotating, elevating and hoisting motions. The dynamic equations of the system are recursively derived by a Newton Euler method. The dynamic behavior of the load of slewing crane in rotating motion is simulated on a computer. The method of robotic dynamics to derive the dynamic equations of the swing of load is accurate and convenient and it has good regularity. The result of the study provides a base in theory on design of crane and an accurate mathematical model for controlling the swing of load.
基金supported by the National Natural Science Foundation of China(No.12072304).
文摘This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobile platform.First,an SPM-centered mobile platform,featuring two redundant and another unconstrained Degree of Freedom(DOF),and its suspension support mechanism are designed together,collectively constructing a WDPR endowed with kinematic redundancy.Afterward,the kinematics of the mechanism,boundary equations for the redundant DOFs,and relevant kinematic performance indices are then proposed and formulated.The results from both prototype experiments and numerical assessments are presented.The capability of the support mechanism to replicate the complex coupled motions of the SPM is verified by the experimental results,while the proposed kinematics and boundary equations are also validated.Furthermore,it is revealed by numerical assessments that the redundant DOFs of the mobile platform exert a minimal impact on the kinematic performance of the suspension support.Finally,the optimal global attitude performance is obtained when these DOFs are set to zero if they are restricted to constants.However,local attitude performance can be further improved by the variable values.
