Inverse Dynamic Analysis and Linearisation of a High Speed Parallel Mechanism

2005 ◽  
Author(s):  
M. Necip Sahinkaya ◽  
Yanzhi Li
Keyword(s):  
Dynamic Analysis ◽  
Parallel Mechanism ◽  
High Speed ◽  
Inverse Dynamics ◽  
Motion Path ◽  
Model Parameters ◽  
Control Input ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
Dynamics Models

Inverse dynamic analysis of a three degree of freedom parallel mechanism driven by three electrical motors is carried out to study the effect of motion speed on the system dynamics and control input requirements. Availability of inverse dynamics models offer many advantages, but controllers based on real-time inverse dynamic simulations are not practical for many applications due to computational limitations. An off-line linearisation of system and error dynamics based on the inverse dynamic analysis is developed. It is shown that accurate linear models can be obtained even at high motion speeds eliminating the need to use computationally intensive inverse dynamics models. A point-to-point motion path for the mechanism platform is formulated by using a third order exponential function. It is shown that the linearised model parameters vary significantly at high motion speeds, hence it is necessary to use adaptive controllers for high performance.

Modeling and Control of High Speed Mechanisms Using Inverse Dynamic Analysis

2006 ◽  
Author(s):  
Yanzhi Li ◽  
M. Necip Sahinkaya
Keyword(s):  
Dynamic Analysis ◽  
High Speed ◽  
Linear Quadratic Regulator ◽  
Linearization Method ◽  
Feedback Controller ◽  
Linear Quadratic ◽  
Piecewise Linearization ◽  
Inverse Dynamic ◽  
Modeling And Control ◽  
Inverse Dynamic Analysis

Inverse dynamic analysis can be used in designing controllers, but the computational requirements may prevent its use in real time. A combined piecewise linearization and off-line inverse dynamic analysis approach has been exploited in this paper to achieve the required computational efficiency with the convenience of traditional linear controllers, coupled with the accuracy and adaptability of inverse dynamic analysis. The paper simulates a three-degree-of-freedom RRR planar mechanism to demonstrate the techniques. An inverse dynamic analysis of this mechanism is carried out for different desired motions and for different operating speeds. A piecewise linearization approach is introduced to represent the system as a multi-input multi-output linear system with motion and speed dependent coefficients. A separate linearization method is developed to determine the error dynamics off-line. A standard linear-quadratic regulator is applied to the linearized model for the design of a feedback controller. The robustness against external disturbances of the proposed adaptive linearized feed-forward and feedback controller is examined by simulated examples. Most of the computationally demanding inverse dynamic and linearization calculations are carried out off-line, therefore the technique offers many potential applications involving highly complex systems.

scholarly journals Correction of Motion Capture Data With Respect to Kinematic Data Consistency for Inverse Dynamic Analysis

2005 ◽  
Author(s):  
Wolfgang Seemann ◽  
Gu¨nther Stelzner ◽  
Christian Simonidis
Keyword(s):  
Dynamic Analysis ◽  
Motion Capture ◽  
Inverse Dynamics ◽  
Human Motion ◽  
Frequency Noise ◽  
Inverse Dynamic ◽  
Data Set ◽  
Kinematic Data ◽  
Constraint Equations ◽  
Inverse Dynamic Analysis

Inverse dynamics analysis of human motion requires that the trajectories of the selected anatomical points are known. Therefore, standard motion capture technique by tracking marker points is generally used to obtain the trajectories. The tracking process, however, introduces high-frequency noise into the trajectories and the measured data can not be used directly to proceed in the inverse dynamic analysis. A mechanical system is consistent with kinematic data if the constraint equations of position and their time derivatives are satisfied by any parameters contained in the data set. Spurious reaction forces result from violations of the constraint equations using non consistent data. Therefore, a method is applied in this paper, whereby a new set of trajectories is generated by performing a projection of the observed positions, velocities and accelerations onto the corresponding constraint manifold to ensure the consistency of the data mentioned above. Finally, the kinematics of the system is described with the corrected data set.

Virtual Design and Inverse Dynamics Analysis of Aircraft Taxi-Mover Lifting Unit

2011 ◽  
Vol 121-126 ◽  
pp. 1545-1549
Author(s):  
Xu Dong Shi ◽  
Shou Wen Shi ◽  
Jian Li Li
Keyword(s):  
Dynamic Analysis ◽  
Inverse Dynamics ◽  
Dynamics Analysis ◽  
Virtual Design ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
Parameterized Model ◽  
Inverse Dynamics Analysis

A new holding-lifting autosteer mechanism (HAM) is introduced which is fit for aircraft taxi-mover. The relation between the Multi-bar mechanism and tug operation of the aircraft on the taxiway is also discussed. With this understanding , a virtual parameterized model of holding-lifting autosteer mechanism is established by Pro/E . Based on Single-opened-chain , inverse dynamic analysis for planar parallel lifting unit is presented .

Experimental Validation of a Dynamic Simulation

1990 ◽  
Author(s):  
K. Harold Yae ◽  
Su-Tai Chern ◽  
Howyoung Hwang
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Simulation ◽  
Time Domain ◽  
Experimental Validation ◽  
Initial Conditions ◽  
Hydraulic Cylinder ◽  
Force Output ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
The Time Domain

Abstract Using forward and inverse dynamic analysis, the dynamic simulation of a backhoe has been compared with experiments. In the experiment, recorded were the configuration and force histories; that is, velocity and position, and force output from the hydraulic cylinder-all were measured in the time domain. When the experimental force history is used as driving force in the simulation, forward dynamic analysis produces a corresponding motion history. And when the experimental motion history is used as if a prescribed trajectory, inverse dynamic analysis generates a corresponding force history. Therefore, these two sets of motion and force histories — one set from experiment, and the other from the simulation that is driven forward and backward with the experimental data — are compared in the time domain. The comparisons are discussed in regard to the effects of variations in initial conditions, friction, and viscous damping.

Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot

Robotica ◽  
2019 ◽  
Vol 37 (11) ◽  
pp. 1971-1986
Author(s):  
Ruoyu Feng ◽  
Peng Zhang ◽  
Junfeng Li ◽  
Hexi Baoyin
Keyword(s):  
Power Consumption ◽  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Kinematic Model ◽  
Theoretical Models ◽  
Equation Of Motion ◽  
Kinematics And Dynamics ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis

SummaryIn this study, the kinematics and dynamics of a single actuator wave (SAW)-like robot are explored. Comprising a helical spine and links, SAW has the potential for miniaturization. A kinematic model for SAW is firstly established, and the dynamic equation of motion is derived based on Kane’s method. For validation, the motion of SAW is simulated using both MATLAB and ADAMS, and the comparison of results demonstrates the effectiveness of the theoretical models. Then the inverse dynamic analysis is performed to reveal the power consumption. Finally, robot prototypes are developed and tested to confirm the robot velocity predicted by simulations.

scholarly journals Control of the boundary conditions of a dynamic knee simulator

2015 ◽  
Vol 6 (2) ◽  
pp. 7 ◽  
Author(s):  
Jan Tiré ◽  
Jan Victor ◽  
Patrick De Baets ◽  
Matthias Verstraete
Keyword(s):  
Boundary Conditions ◽  
Dynamic Analysis ◽  
Ankle Joint ◽  
Hip Joint ◽  
Degrees Of Freedom ◽  
Muscle Forces ◽  
Inverse Dynamic ◽  
Human Knee ◽  
Inverse Dynamic Analysis ◽  
Knee Simulator

At Ghent University a dynamic knee simulator to analyse the kinematics of a human knee has been developed. The rig is designed to perform tests on a mechanical hinge or on a human knee (with or without a prosthesis). The rig has one degree of freedom in a hip joint and four degrees of freedom in an ankle joint. There is currently one actuator that simulates the quadriceps forces. Two additional actuators are proposed in this paper to simulate the hamstrings forces. The magnitude and phase of the forces varies significantly during the movement (e.g. cycling or squatting). Literature indicates that the maximum muscle forces do not exceed 2000 N. An inverse dynamic analysis, using the musculoskeletal software AnyBody, is proposed to determine the evolution of these forces during the studied movements.

Interlimb Transfer of Novel Inertial Dynamics Is Asymmetrical

2004 ◽  
Vol 92 (1) ◽  
pp. 349-360 ◽  
Author(s):  
Jinsung Wang ◽  
Robert L. Sainburg
Keyword(s):  
Dynamic Analysis ◽  
Initial Training ◽  
Flexor Muscle ◽  
Inverse Dynamic ◽  
Subsequent Performance ◽  
Inverse Dynamic Analysis ◽  
Dynamic Strategy ◽  
Direction Control ◽  
Muscle Torques ◽  
Interaction Torques

Mechanisms underlying interlimb transfer of adaptation to visuomotor rotations have recently been explored in depth. However, little data are available regarding interlimb transfer of adaptation to novel inertial dynamics. The present study thus investigated interlimb transfer of dynamics by examining the effect of initial training with one arm on subsequent performance with the other in adaptation to a 1.5-kg mass attached eccentrically to the forearm. Using inverse dynamic analysis, we examined the changes in torque strategies associated with adaptation to the extra mass, and with interlimb transfer of that adaptation. Following initial training with the dominant arm, nondominant arm performance improved substantially in terms of linearity and initial direction control as compared with naïve performance. However, initial training with the nondominant arm had no effect on subsequent performance with the dominant arm. Inverse dynamic analysis revealed that improvements in kinematics were implemented by increasing flexor muscle torques at the elbow to counter load-induced increases in extensor interaction torques as well as increasing flexor muscle torques at the shoulder to counter the extensor actions of elbow muscle torque. Following opposite arm adaptation, the nondominant arm adopted this dynamic strategy early in adaptation. These findings suggest that dominant arm adaptation to novel inertial dynamics leads to information that can be accessed and utilized by the opposite arm controller, but not vice versa. When compared with our previous findings on interlimb transfer of visuomotor rotations, our current findings suggest that adaptations to visuomotor and dynamic transformations are mediated by distinct neural mechanisms.

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