Kinematic Design of a 5-DOF Hybrid Robot with Large Workspace/Limb–Stroke Ratio

2006 ◽  
Vol 129 (5) ◽  
pp. 530-537 ◽  
Author(s):  
Haitao Liu ◽  
Tian Huang ◽  
Jianping Mei ◽  
Xueman Zhao ◽  
Derek G. Chetwynd ◽  
...  
Keyword(s):  
Kinematic Chain ◽  
Open Loop ◽  
Singular Value ◽  
Dimensional Synthesis ◽  
Output Link ◽  
Design Variables ◽  
Spherical Parallel Mechanism ◽  
Symmetry Requirement ◽  
The Mean ◽  
Spherical Mechanism

This paper deals with the conceptual and kinematic designs of a 5-degree of freedom (DOF) reconfigurable hybrid robot. The robot is composed of a 2-DOF parallel spherical mechanism that is serially connected with a 3-DOF open loop kinematic chain via a prismatic joint. Somewhat similar to the well-known Tricept robot, this design has the merit that a relatively large workspace/limb–stroke ratio can be achieved thanks to the decomposition of the motions of the output link into the 2-DOF rotation and 1-DOF translation. As with the Tricept, the robot is well suited for use as a plug-and-play module to configure different machines. The dimensional synthesis of the 2-DOF spherical parallel mechanism is carried out by the monotonical analysis of the design variables versus a global conditioning index represented by the mean of the minimum singular value of the Jacobian, leading to the solution of two nonlinear equations due to the limb length constraint and nearly axial symmetry requirement of the kinematic performance. The results of the dimensional synthesis are given via examples.

scholarly journals Hybrid Seven-bar Press Mechanism

2018 ◽  
Vol 12 (3) ◽  
pp. 181-187
Author(s):  
M. Erkan Kütük ◽  
L. Canan Dülger
Keyword(s):  
Genetic Algorithm ◽  
Objective Function ◽  
Design Optimization ◽  
Hybrid System ◽  
Degrees Of Freedom ◽  
Dimensional Synthesis ◽  
Design Variables ◽  
Optimization Study ◽  
Metal Stamping

An optimization study with kinetostatic analysis is performed on hybrid seven-bar press mechanism. This study is based on previous studies performed on planar hybrid seven-bar linkage. Dimensional synthesis is performed, and optimum link lengths for the mechanism are found. Optimization study is performed by using genetic algorithm (GA). Genetic Algorithm Toolbox is used with Optimization Toolbox in MATLAB®. The design variables and the constraints are used during design optimization. The objective function is determined and eight precision points are used. A seven-bar linkage system with two degrees of freedom is chosen as an example. Metal stamping operation with a dwell is taken as the case study. Having completed optimization, the kinetostatic analysis is performed. All forces on the links and the crank torques are calculated on the hybrid system with the optimized link lengths

ON THE HYBRID-DRIVEN LINKAGE MECHANISM WITH ONE INPUT CYCLE CORRESPONDING TO TWO OUTPUT CYCLES

2015 ◽  
Vol 39 (3) ◽  
pp. 637-646
Author(s):  
Ren-Chung Soong
Keyword(s):  
Kinematic Analysis ◽  
Angular Speed ◽  
Motion Trajectory ◽  
Dimensional Synthesis ◽  
Reciprocating Motion ◽  
Linkage Mechanism ◽  
Output Link ◽  
Input And Output ◽  
Single Input ◽  
Selection Of

A hybrid-driven five-bar linkage mechanism with one input cycle corresponding to two output cycles is presented. The proposed linkage mechanism is driven by a constant-speed motor and a linear motor, respectively. The output link can generate two same required output cycles during a single input cycle, while the rotational input link rotates with a constant angular speed, and the linear input link follows a reciprocating motion along a specified linear guide fixed on the rotational input link. The configuration, displacement relationship between the input and output links, and conditions of mobility of this proposed mechanism were studied, and a kinematic analysis was performed. The selection of the instantaneous motion trajectory of the linear input link and an optimal dimensional synthesis are also described. An example is provided to verify the feasibility and effectiveness of this methodology.

Scale and Lag Effects on Control of Aerodynamic Power and Loads on a HAWT Rotor

2001 ◽  
Vol 123 (4) ◽  
pp. 339-345 ◽  
Author(s):  
P. J. Moriarty ◽  
A. J. Eggers, ◽  
K. Chaney ◽  
W. E. Holley
Keyword(s):  
Control System ◽  
Fatigue Life ◽  
Wind Speed ◽  
Open Loop ◽  
Time Lags ◽  
Large Power ◽  
Lag Effects ◽  
Mean Wind Speed ◽  
The Mean ◽  
High Control

The effects of rotor scale and control system lag were examined for a variable-speed wind turbine. The scale study was performed on a teetered rotor with radii ranging between 22.5m and 33.75m. A 50% increase in radius more than doubled the rated power and annual energy capture. Using blade pitch to actively control fluctuating flatwise moments allowed for significant reductions in blade mass for a fixed fatigue life. A blade operated in closed-loop mode with a 33.75m radius weighed less than an open-loop blade with a 22.5m radius while maintaining the same fatigue life of 5×109 rotations. Actuator lag reduced the effectiveness of the control system. However, 50% reductions in blade mass were possible even when implementing a relatively slow actuator with a 1 sec. time constant. Other practical limits on blade mass may include fatigue from start/stop cycles, non-uniform turbulence, tower wake effects, and wind shear. The more aggressive control systems were found to have high control accelerations near 60 deg/s2, which may be excessive for realistic actuators. Two time lags were introduced into the control system when mean wind speed was estimated in a rapidly changing wind environment. The first lag was the length of time needed to determine mean wind speed, and therefore the mean control settings. The second was the frequency at which these mean control settings were changed. Preliminary results indicate that quickly changing the mean settings (every 10 seconds) and using a moderate length mean averaging time (60 seconds) resulted in the longest fatigue life. It was discovered that large power fluctuations occurred during open-loop operation which could cause sizeable damage to a realistic turbine generator. These fluctuations are reduced by one half or more when aerodynamic loads are actively controlled.

DUTY-CYCLED SPINNING BASED 3D MOTION CONTROL APPROACH FOR BEVEL-TIPPED FLEXIBLE NEEDLE INSERTION

2018 ◽  
Vol 18 (07) ◽  
pp. 1840017 ◽  
Author(s):  
QIN YAO ◽  
XUMING ZHANG
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Tracking Error ◽  
Open Loop ◽  
Loop Control ◽  
3D Motion ◽  
Control Approach ◽  
Target Error ◽  
The Mean ◽  
Simulation Results

Flexible needle has been widely used in the therapy delivery because it can advance along the curved lines to avoid the obstacles like important organs and bones. However, most control algorithms for the flexible needle are still limited to address its motion along a set of arcs in the two-dimensional (2D) plane. To resolve this problem, this paper has proposed an improved duty-cycled spinning based three-dimensional (3D) motion control approach to ensure that the beveled-tip flexible needle can track a desired trajectory to reach the target within the tissue. Compared with the existing open-loop duty-cycled spinning method which is limited to tracking 2D trajectory comprised of few arcs, the proposed closed-loop control method can be used for tracking any 3D trajectory comprised of numerous arcs. Distinctively, the proposed method is independent of the tissue parameters and robust to such disturbances as tissue deformation. In the trajectory tracking simulation, the designed controller is tested on the helical trajectory, the trajectory generated by rapidly-exploring random tree (RRT) algorithm and the helical trajectory. The simulation results show that the mean tracking error and the target error are less than 0.02[Formula: see text]mm for the former two kinds of trajectories. In the case of tracking the helical trajectory, the mean tracking error target error is less than 0.5[Formula: see text]mm and 1.5[Formula: see text]mm, respectively. The simulation results prove the effectiveness of the proposed method.

Kinematic Analysis and Synthesis of Three-Input, Eight-Bar Mechanisms Driven by Relatively Small Cranks

1992 ◽  
Author(s):  
Kambiz Farhang ◽  
Partha Sarathi Basu
Keyword(s):  
Nonlinear Equations ◽  
Kinematic Analysis ◽  
Linear Equations ◽  
Output Link ◽  
Analysis And Design ◽  
Constraint Equations ◽  
Analysis And Synthesis ◽  
The Mean ◽  
Approximate Equations

Abstract Approximate kinematic equations are developed for the analysis and design of three-input, eight-bar mechanisms driven by relatively small cranks. Application of a method in which an output link is presumed to be comprised of a mean and a perturbational motions, along with the vector loop approach facilitates the derivation of the approximate kinematic equations. The resulting constraint equations are, (i) in the form of a set of four nonlinear equations relating the mean link orientations, and (ii) a set of four linear equations in the unknown perturbations (output link motions). The latter set of equations is solved, symbolically, to obtain the output link motions. The approximate equations are shown to be effective in the synthesis of three-input, small-crank mechanisms.

Mechanical Efficiency of Hydraulic Air Compressors

2016 ◽  
Vol 138 (6) ◽  
Author(s):  
Valeria Pavese ◽  
Dean Millar ◽  
Vittorio Verda
Keyword(s):  
Bubbly Flow ◽  
Mechanical Efficiency ◽  
Open Loop ◽  
Economic Implication ◽  
Intimate Contact ◽  
Air Compressor ◽  
Design Variables ◽  
Gas Compression ◽  
Large Heat ◽  
Air Compressors

After air and water mixing, the process of gas compression in the downcomer shaft or pipe of a hydraulic air compressor is considered nearly isothermal due to (i) the mass flow rate of water being typically of three orders higher than that of the gas it compresses, (ii) water having a heat capacity approximately four times that of air, and (iii) the intimate contact and large heat transfer area between the gas phase and the liquid phase of the bubbly flow. A formulation for estimation of the efficiency of a closed- or open-loop hydraulic air compressor, expressed in terms of the principal hydraulic air compressor design variables, is presented. The influence of a hitherto underappreciated factor affecting the performance of these installations, such as the solubility of the gas being compressed in the water, is explored. A procedure for estimating the yield of compressed gas, accounting for these solubility losses, is explained and used to determine the mechanical efficiency of historical hydraulic air compressor installations from reported performance data. The result is a significant downward revision of hydraulic air compressor efficiency by approximately 20% points in comparison to most reported efficiencies. However, through manipulation of cosolute concentrations in the water, and the temperature of the water (through regulation of the ejection of compression heat), the mechanical efficiency can be increased to the formerly reported levels. The thermo-economic implication of these efficiency determinations is that in a modern context, hydraulic air compressors may be able to outperform conventional mechanical gas compression equipment.

A Triad-Based Two-DOF Robomech: Architecture and Optimum Synthesis

2005 ◽  
Author(s):  
Ahmad Smaili ◽  
Bachir Chaaya
Keyword(s):  
Genetic Algorithm ◽  
Case Studies ◽  
Kinematic Chain ◽  
Dimensional Synthesis ◽  
Gradient Search ◽  
Search Methods ◽  
Optimum Synthesis ◽  
End Effectors

Presented in this paper is a 2-dof robomech that carries two end effectors to perform two functions simultaneously. The robomech has a 7R architecture consisting of two triad wings connected to form two cells. The over-constrained kinematic chain cannot traverse continuous trajectories but may be synthesized to move the end effectors through a set of desired locations. The article presents the architecture of the proposed robomech, establishes its kinematic relations and constraints, and provides dimensional synthesis scheme based on genetic algorithm and gradient search methods. Two case studies are included to demonstrate the applicability of the proposed robomech.

The Non-Recursive Newton-Euler Formulation of the Dynamic Equation for Robotic Mechanisms

1986 ◽  
Vol 10 (1) ◽  
pp. 16-20
Author(s):  
You-Sun Li ◽  
Anastasios Kessaris
Keyword(s):  
Computer Simulation ◽  
Dynamic Equation ◽  
Kinematic Chain ◽  
Open Loop ◽  
Dynamic Equations ◽  
Design Stage ◽  
Real Time Control ◽  
Time Control ◽  
Dynamic Computer Simulation ◽  
New Formulation

A new formulation of the dynamic equations of an open loop kinematic chain is presented in this paper. This new method is based upon the composite link system concept and the dynamic equations are derived using vectorial analysis. In comparison with conventional methods, the method presented in this paper is more efficient and more explicit, hence it is applicable to both real time control and dynamic computer simulation during the design stage of new robotic mechanisms.

Wind Tunnel Test of Honeycomb in Improving Flow Quality

2013 ◽  
Vol 774-776 ◽  
pp. 275-278
Author(s):  
Chun Guang Li ◽  
Yang Liu ◽  
John.C.K. Cheung
Keyword(s):  
Wind Tunnel ◽  
Cell Size ◽  
Turbulence Intensity ◽  
Wind Tunnel Test ◽  
Open Loop ◽  
Incoming Flow ◽  
Flow Quality ◽  
The Mean ◽  
Square Cells ◽  
Change Tendency

The function of honeycomb with different length and width in improving flow quality were studied in the course of building a new small section open loop wind tunnel. Instantaneous velocities of turbulent flow in the tunnel were measured by cobra probe. The focus of this study was put on the effect of the honeycomb in attenuating the total turbulence intensity including the free-turbulence carried by the incoming flow and the turbulence generated by the square cells themselves. The change tendency of the mean wind velocity and the total turbulence characteristics in the decay area have been studied by varying the length to cell size ratio L/D, and ratio of distance between the square cells and the measuring position to cell size X/D.

Designing Statically Determinable Mechanisms of Technological Mechatronic Machines with Parallel Kinematics

2019 ◽  
Vol 20 (7) ◽  
pp. 428-436
Author(s):  
A. K. Tolstosheev ◽  
V. A. Tatarintsev
Keyword(s):  
Structural Analysis ◽  
Hierarchical Structure ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Parallel Structure ◽  
Parallel Kinematics ◽  
Output Link ◽  
Parallel Connection ◽  
Kinematic Chains ◽  
Chain Increase

The work is devoted to improving the reliability and manufacturability of mechatronic machine designs with parallel kinematics by replacing statically indeterminable manipulators with statically determinable mechanisms. A technique is proposed in which the design of statically determinable manipulators of technological mechatronic machines with parallel kinematics is performed by modifying the structure of prototypes and includes three steps: identifying and analyzing redundant links, eliminating redundant links, checking the correctness of eliminating redundant links. To determine the number of degrees of freedom of the mechanism, identify redundant links, and verify the solution, the authors use the proposed methodology for structural analysis of parallel structure mechanisms. In structural analysis, a manipulator is represented by a hierarchical structure and is considered as a parallel connection of elementary mechanisms with an open kinematic chain; as a kinematic chain consisting of leading and driven parts; as a set of links and kinematic pairs; as a kinematic connection of the output link and the rack. The article implements the following techniques for eliminating redundant links: mobility increase in kinematic pairs; introduction of unloading links and passive kinematic pairs to the kinematic chain; exclusion of extra links and pairs from the kinematic chain; increase in mobility in some kinematic pairs simultaneously with the exclusion of other kinematic pairs that have become superfluous. The authors developed several variants of structural schemes of self-aligning manipulators based on the Orthoglide mechanism, which retain the basic functional proper ties of the prototype. To increase the number of self-aligning mechanism diagrams, the redistribution of mobilities and links within the connecting kinematic chain and between connecting kinematic chains is used. The proposed methodics allow to determine the number of degrees of freedom of the mechanism, the number and type of redundant links, eliminate redundant links and, on an alternative basis, build structural diagrams of statically determinable mechanisms of technological mechatronic machines with parallel kinematics.

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