Track slab fine adjustment system based on 6-DOF parallel mechanism

2011 ◽  
Author(s):  
Yan Hao ◽  
Li Changchun ◽  
Liu Xiaodong ◽  
Zhang Jinying ◽  
Hu Huajun
Keyword(s):  
Parallel Mechanism ◽  
Adjustment System ◽  
Fine Adjustment ◽  
Track Slab

A calibration method of redundant actuated parallel mechanism for posture adjustment

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Wenmin Chu ◽  
Xiang Huang ◽  
Shuanggao Li
Keyword(s):  
Parallel Mechanism ◽  
Force Feedback ◽  
Calibration Method ◽  
Numerical Control ◽  
Content Type ◽  
Loop Feedback ◽  
Random Sample Consensus ◽  
Calibration Accuracy ◽  
Adjustment System ◽  
Posture Adjustment

Purpose With the improvement of modern aircraft requirements for safety, long life and economy, higher quality aircraft assembly is needed. However, due to the manufacturing and assembly errors of the posture adjustment mechanism (PAM) used in the digital assembly of aircraft large component (ALC), the posture alignment accuracy of ALC is difficult to be guaranteed, and the posture adjustment stress is easy to be generated. Aiming at these problems, this paper aims to propose a calibration method of redundant actuated parallel mechanism (RAPM) for posture adjustment. Design/methodology/approach First, the kinematics model of the PAM is established, and the influence of the coupling relationship between the axes of the numerical control locators (NCL) is analyzed. Second, the calibration method based on force closed-loop feedback is used to calibrate each branch chain (BC) of the PAM, and the solution of kinematic parameters is optimized by Random Sample Consensus (RANSAC). Third, the uncertainty of kinematic calibration is analyzed by Monte Carlo method. Finally, a simulated posture adjustment system was built to calibrate the kinematics parameters of PAM, and the posture adjustment experiment was carried out according to the calibration results. Findings The experiment results show that the proposed calibration method can significantly improve the posture adjustment accuracy and greatly reduce the posture adjustment stress. Originality/value In this paper, a calibration method based on force feedback is proposed to avoid the deformation of NCL and bracket caused by redundant driving during the calibration process, and RANSAC method is used to reduce the influence of large random error on the calibration accuracy.

Virtual Prototype Simulation of Fine-Adjustment System Kinematics for Segment Erector of Tunnel Boring Machine

2012 ◽  
Vol 490-495 ◽  
pp. 3883-3886
Author(s):  
Gang Li ◽  
Ya Dong Chen ◽  
Bo Wang ◽  
Wan Shan Wang
Keyword(s):  
Degrees Of Freedom ◽  
Tunnel Boring Machine ◽  
Virtual Prototype ◽  
Design Parameters ◽  
Tunnel Boring ◽  
Kinematics Simulation ◽  
Adjustment System ◽  
Freedom Movement ◽  
Segment Erector ◽  
Fine Adjustment

In this paper, we present the modeling and kinematics simulation of fine-adjustment system for segment erector of tunnel boring machine (TBM), which is performed in the virtual prototype platform. The 3D virtual assembling model of fine-adjustment system is built with Pro/E software according to its design parameters such as structure and size. After the interference inspection, the model is imported into ADAMS through the interface module of Mech/Pro. The model is simplified and optimized reasonably and various constraints are applied under variety working conditions. The results of simulation show that the design has three degrees of freedom movement capacity which meets the design requirements. At the same time the kinematics characteristics of each part along three different directions are obtained and they will provide some references for the further optimal design.

Perancangan Sistem Kontrol Lampu Lalulintas Cerdas Dengan Menggunakan Mikrokontroler dan Kamera

Jurnal MIPA ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 200
Author(s):  
Tjerie Pangemanan ◽  
Arnold Rondonuwu
Keyword(s):  
Real Time ◽  
Digital Image ◽  
Red Light ◽  
Green Light ◽  
Processing Method ◽  
Traffic Lights ◽  
Traffic System ◽  
Road Users ◽  
Adjustment System ◽  
System Time

Masalah lalu lintas  merupakan salah satu  masalah yang sangat sulit diatasi dengan hanya menggunakan system waktu (timer). Oleh sebab itu diperlukan suatu system pengaturan otomatis yang bersifat real-time sehingga waktu pengaturan lampu lalu lintas dapat disesuaikan dnegan keadaan di lapangan. Penelitian ini bertujuan mengembangkan suatu simulasi sistem yang mampu mengestimasi panjang antrian kendaraan menggunakan metoda pengolahan citra digital hanya dengan menggunakan satu kamera untuk dijadikan parameter masukan  dalam menghitung lama waktu nyala lampu merah dan lampu hijau. Oleh karena itu, sistem lalulintas sangatlah diperlukan, sebagai sarana dan prasarana untuk menjadikan lalulintas lancar, aman, bahkan sebagai media pembelajaran disiplin bagi masyarakat pengguna jalan raya. Penelitian ini penulis menggunakan sistem pengontrolan berbasis citra digital dimana camera sebagai sensor. Untuk aplikasi dari  semua metode dalam penelitian ini digunakan Microcontroller AurdinoTraffic problems is one of the problems that is very difficult to overcome by only using the system time (timer). Therefore we need an automatic real-time adjustment system so that the time settings for traffic lights can be adjusted according to the conditions on the ground. This study aims to develop a system simulation that is able to estimate the length of the vehicle queue using a digital image processing method using only one camera to be used as input parameters in calculating the length of time the red light and green light. Therefore, the traffic system is very necessary, as a means and infrastructure to make traffic smooth, safe, even as a medium for disciplined learning for road users. In this study the authors used a digital image-based control system where the camera as a sensor. For the application of all methods in this study, Aurdino Microcontroller is used

Inverse Control of Cable-driven Parallel Mechanism Using Type-2 Fuzzy Neural Network

2010 ◽  
Vol 36 (3) ◽  
pp. 459-464 ◽  
Author(s):  
Cheng-Dong LI ◽  
Jian-Qiang YI ◽  
Yi YU ◽  
Dong-Bin ZHAO
Keyword(s):  
Neural Network ◽  
Parallel Mechanism ◽  
Fuzzy Neural Network ◽  
Inverse Control ◽  
Fuzzy Neural

Statics Analysis on Planar Moving Parallel Mechanism Based on Boundary Element Method

ROBOT ◽  
2010 ◽  
Vol 32 (3) ◽  
pp. 384-389 ◽  
Author(s):  
Yumei HUANG ◽  
Xuzhao HAN ◽  
Feng GAO ◽  
Chun CHEN ◽  
Xingang YANG
Keyword(s):  
Boundary Element Method ◽  
Boundary Element ◽  
Parallel Mechanism ◽  
Element Method

scholarly journals Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

2019 ◽  
Vol 32 (1) ◽  
Author(s):  
Haitao Liu ◽  
Ke Xu ◽  
Huiping Shen ◽  
Xianlei Shan ◽  
Tingli Yang
Keyword(s):  
Explicit Form ◽  
Parallel Mechanism ◽  
Analytic Solutions ◽  
Forward Kinematics ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Real Time Control ◽  
Time Control ◽  
Topological Characteristics ◽  
Zero Coupling

Abstract Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms. Therefore, the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest. Based on this purpose, this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism. With the aid of the theory of mechanism topology, the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented, which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism. Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed, resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree. One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics. The process of type synthesis is in the order of permutation and combination; therefore, there are no omissions. This method is also applicable to other configurations, and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

scholarly journals Mechanical Performance of a Ballastless Track System for the Railway Bridges of High-Speed Lines: Experimental and Numerical Study under Thermal Loading

Materials ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 2876
Author(s):  
Yingying Zhang ◽  
Lingyu Zhou ◽  
Akim D. Mahunon ◽  
Guangchao Zhang ◽  
Xiusheng Peng ◽  
...  
Keyword(s):  
High Speed ◽  
Thermal Loading ◽  
Mechanical Performance ◽  
Track Structure ◽  
Box Girder ◽  
High Speed Railway ◽  
Ballastless Track ◽  
Track System ◽  
Girder Bridge ◽  
Track Slab

The mechanical performance of China Railway Track System type II (CRTS II) ballastless track suitable for High-Speed Railway (HSR) bridges is investigated in this project by testing a one-quarter-scaled three-span specimen under thermal loading. Stress analysis was performed both experimentally and numerically, via finite-element modeling in the latter case. The results showed that strains in the track slab, in the cement-emulsified asphalt (CA) mortar and in the track bed, increased nonlinearly with the temperature increase. In the longitudinal direction, the zero-displacement section between the track slab and the track bed was close to the 1/8L section of the beam, while the zero-displacement section between the track slab and the box girder bridge was close to the 3/8L section. The maximum values of the relative vertical displacement between the track bed and the bridge structure occurred in the section at three-quarters of the span. Numerical analysis showed that the lower the temperature, the larger the tensile stresses occurring in the different layers of the track structure, whereas the higher the temperature, the higher the relative displacement between the track system and the box girder bridge. Consequently, quantifying the stresses in the various components of the track structure resulting from sudden temperature drops and evaluating the relative displacements between the rails and the track bed resulting from high-temperature are helpful in the design of ballastless track structures for high-speed railway lines.

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