scholarly journals Forward and Inverse Dynamics of a Six-Axis Accelerometer Based on a Parallel Mechanism

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 233
Author(s):  
Linkang Wang ◽  
Jingjing You ◽  
Xiaolong Yang ◽  
Huaxin Chen ◽  
Chenggang Li ◽  
...  
Keyword(s):  
Configuration Space ◽  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Recursive Algorithm ◽  
Hamiltonian Function ◽  
Euler Method ◽  
Dynamic Equations ◽  
Sensor Calibration ◽  
Inverse Dynamic ◽  
New Strategy

The solution of the dynamic equations of the six-axis accelerometer is a prerequisite for sensor calibration, structural optimization, and practical application. However, the forward dynamic equations (FDEs) and inverse dynamic equations (IDEs) of this type of system have not been completely solved due to the strongly nonlinear coupling relationship between the inputs and outputs. This article presents a comprehensive study of the FDEs and IDEs of the six-axis accelerometer based on a parallel mechanism. Firstly, two sets of dynamic equations of the sensor are constructed based on the Newton–Euler method in the configuration space. Secondly, based on the analytical solution of the sensor branch chain length, the coordination equation between the output signals of the branch chain is constructed. The FDEs of the sensor are established by combining the coordination equations and two sets of dynamic equations. Furthermore, by introducing generalized momentum and Hamiltonian function and using Legendre transformation, the vibration differential equations (VDEs) of the sensor are derived. The VDEs and Newton–Euler equations constitute the IDEs of the system. Finally, the explicit recursive algorithm for solving the quaternion in the equation is given in the phase space. Then the IDEs are solved by substituting the quaternion into the dynamic equations in the configuration space. The predicted numerical results of the established FDEs and IDEs are verified by comparing with virtual and actual experimental data. The actual experiment shows that the relative errors of the FDEs and the IDEs constructed in this article are 2.21% and 7.65%, respectively. This research provides a new strategy for further improving the practicability of the six-axis accelerometer.

Inverse Dynamics of 2UPS-2RPS Parallel Mechanism Based on Virtual Work Principle

2010 ◽  
Vol 29-32 ◽  
pp. 744-749 ◽  
Author(s):  
Wen Hua Wang ◽  
Zhi You Feng ◽  
Ting Li Yang ◽  
Ce Zhang
Keyword(s):  
Computer Simulation ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Virtual Work ◽  
Dynamic Equations ◽  
Inverse Dynamic ◽  
Virtual Work Principle ◽  
Inverse Dynamic Model ◽  
Moving Platform

Inverse dynamic equations of the 2UPS-2RPS mechanism are formulated by utilizing the virtual work principle. Kinematic analysis of the mechanism is presented, on the basis of which the Jacobian matrices of the limbs and the mechanism are deduced. By combining the dynamics of the limbs and the moving-platform, the inverse dynamic model of the mechanism is obtained. Finally a computer simulation is carried out to demonstrate the dynamic analysis of the moving platform.

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.

The Dynamic Analysis of a 2-PRR Planar Parallel Mechanism

2005 ◽  
Vol 219 (9) ◽  
pp. 901-909 ◽  
Author(s):  
L-P Wang ◽  
J-S Wang ◽  
J Chen
Keyword(s):  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Driving Forces ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Planar Parallel Manipulator ◽  
Euler Approach ◽  
Motion Parameters

The article presents the inverse dynamics of a two-degrees-of-freedom planar parallel manipulator by the Newton-Euler approach. On the basis of the inverse dynamic model, the driving forces of actuators are simulated in different motion parameters. Further, the effects of inertia of each moving component to the driving forces are computed through the numerical method.

Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator

2006 ◽  
Vol 220 (1) ◽  
pp. 61-72 ◽  
Author(s):  
H B Guo ◽  
H R Li
Keyword(s):  
Driving Forces ◽  
Complete System ◽  
Stewart Platform ◽  
Euler Method ◽  
Dynamic Equations ◽  
Task Space ◽  
Inverse Dynamic ◽  
Lagrange Formulation ◽  
Dynamic Formulation ◽  
Six Degree Of Freedom

This article presents the explicit compact closed-form dynamic equations in the task-space by applying the combination of the Newton—Euler method with the Lagrange formulation including the dynamics of the legs for the Stewart platform manipulator. The kinematics analysis of the manipulator is given and the velocity and the acceleration formulae needed to derive the dynamic equations are also derived. The driving forces acting on the legs are determined according to the dynamic formulation. The formulation has been implemented in routines and has been used for studying a few inverse dynamic problems of a specific Stewart platform manipulator. Simulation results reveal the effect of the leg inertia and that of its parts, respectively, on the dynamics of the complete system, and numerical examples show the effectiveness of the proposed method and the dynamic equations of the Stewart platform manipulator.

scholarly journals The Inverse Dynamics of a 3-DOF Parallel Mechanism Based on Analytical Forward Kinematics

2020 ◽  
Author(s):  
Ke Wang ◽  
Ju Li ◽  
Huiping Shen ◽  
Jingjing You ◽  
Ting-Li Yang
Keyword(s):  
Dynamic Equation ◽  
Driving Force ◽  
Theoretical Basis ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Forward Kinematics ◽  
Forward Solution ◽  
Inverse Dynamic ◽  
New Type

Abstract A new type of 3-dof parallel mechanism(PM) with analytical position forward solution is proposed. The reverse dynamic equation of the PM is solved. Different from the traditional dynamic analysis using inverse kinematics, the displacement, velocity and acceleration equations of the PM are established and solved by forward kinematics.The inverse dynamic equation of the PM is constructed and solved by analyzing the forces on each link and based on Newton-Euler method.Through MATLAB and ADAMS , the inverse dynamics is verified by an example. The maximum driving force error of each actuated pair is 1.32%, 5.8% and 5.2% respectively.This paper provides a theoretical basis for the design, manufacture and application of the PM.

Driving force analysis for the secondary adjustable system in FAST

Robotica ◽  
2011 ◽  
Vol 29 (6) ◽  
pp. 903-915 ◽  
Author(s):  
Zhu-Feng Shao ◽  
Xiaoqiang Tang ◽  
Xu Chen ◽  
Li-Ping Wang
Keyword(s):  
Trajectory Optimization ◽  
Driving Force ◽  
Dynamic Models ◽  
Inverse Dynamics ◽  
Driving Forces ◽  
Euler Method ◽  
Central Component ◽  
Force Analysis ◽  
Inverse Dynamic ◽  
Driving Force Analysis

SUMMARYThe Secondary Adjustable System (SAS) addressed here is a central component of the Five-hundred-meter Aperture Spherical radio Telescope (FAST). It is a 6-degree-of-freedom rigid Stewart manipulator, in which one platform (the end-effector) should be controlled to track-desired trajectory when another platform (denoted as the base) is moving. Driving force analysis of the SAS is the basis for selecting rational servomotors and guaranteeing the dynamic performance, which will affect the terminal pose accuracy of the FAST. In order to determine the driving forces of the SAS, using the Newton–Euler method, the inverse dynamics of the Stewart manipulator is modeled by considering the motion of the base. Compared with the traditional dynamic models, the inverse dynamic model introduced here possesses an inherent wider application range. By adopting the kinematic and dynamic parameters of the FAST prototype, the driving force analysis of the SAS is carried out, and the driving force optimization strategies are proposed. Calculation and analysis presented in the paper reveal that there are three main factors affecting the driving forces of the SAS. In addition, the driving force analysis of this paper lays out guidelines for the design and control of the FAST prototype, as well as the structure and trajectory optimization.

Inverse Dynamics of 2UPS-RPU Parallel Mechanism by Newton-Euler Formation

2010 ◽  
Vol 29-32 ◽  
pp. 738-743
Author(s):  
Wen Hua Wang ◽  
Zhi You Feng ◽  
Ting Li Yang
Keyword(s):  
Computer Simulation ◽  
Dynamic Equation ◽  
Driving Force ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Inverse Dynamic ◽  
Moving Platform

2UPS-RPU is a new 4-DOF parallel mechanism with serial input limb. In this paper, the inverse dynamic equation of this mechanism is formulated by Newton-Euler formation based on each limb and moving platform as the studying objects. The inverse kinematics of the mechanism is analyzed. The driving force, driving moment and the constraint moment can be obtained. Finally, a computer simulation is carried out to solve the inverse dynamics of the mechanism when the motion of moving platform is given.

Analysis and Application of a 2-DOF Planar Parallel Mechanism

2006 ◽  
Vol 129 (4) ◽  
pp. 434-437 ◽  
Author(s):  
Jun Wu ◽  
Jinsong Wang ◽  
Tiemin Li ◽  
Liping Wang
Keyword(s):  
Parallel Mechanism ◽  
Euler Method ◽  
Inertia Force ◽  
Kinematic Parameters ◽  
Dynamic Simulations ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Kinematic Design ◽  
Hybrid Machine Tool ◽  
Hybrid Machine

This paper deals with the optimal kinematic design, dynamic analysis, and application of a 2 degree of freedom (2-DOF) planar parallel mechanism. In the optimal kinematic design phase, the singularities and workspace are investigated, and the optimal kinematic parameters of the mechanism are achieved by minimizing a global and comprehensive conditioning index. The Newton–Euler method is employed to derive the inverse dynamic model. Dynamic simulations show that the inertia force of moving parts is an important factor affecting the dynamic characteristics of the mechanism. The parallel mechanism is incorporated into a 4-DOF hybrid machine tool which also includes a 2-DOF worktable to demonstrate its applicability.

Dynamic Modeling and Simulation of Parallel Kinematic Machines

2004 ◽  
Author(s):  
S. J. Du ◽  
M. Kalveram ◽  
K. Weinert
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Modeling ◽  
Inverse Dynamics ◽  
Virtual Work ◽  
Simulation Method ◽  
Euler Method ◽  
Inverse Dynamic ◽  
Kinematic Chains ◽  
Parallel Kinematic ◽  
Five Axis

This paper presents an effective method for inverse dynamic modeling of a five-axis milling machine with parallel kinematic chains (PKM). For solving the inverse dynamics, the methodology of using the principle of virtual work is introduced, which corrects a theoretic error in formulating the dynamic equations of motions sound in previous literatures. A corresponding computational algorithm for solving the inverse dynamics of the parallel kinematic machine is given and two cases of motion trajectories are calculated to check the proposed method. The corrected dynamic modeling is robust and features higher computational efficiency than other dynamic modeling methods such as recursive Newton-Euler method or Lagrangian formulations. Using this dynamic modeling and simulation method, we can anticipate the dynamic behavior of the five-axis machine and develop a suitable algorithm for motion control and dynamic optimization.

Inverse Kinematic Solution and Dynamic Model to 3PTT Parallel Mechanism

2014 ◽  
Vol 945-949 ◽  
pp. 1421-1425
Author(s):  
Xiu Qing Hao
Keyword(s):  
Dynamic Model ◽  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Euler Method ◽  
Research Subject ◽  
Adams Software ◽  
Inverse Kinematic Analysis ◽  
Simulation Results ◽  
Kinematic Solution

Take typical parallel mechanism 3PTT as research subject, its inverse kinematic analysis solution was gotten. Dynamic model of the mechanism was established by Newton-Euler method, and the force and torque equations were derived. Dynamic simulation of 3PTT parallel mechanism was done by using ADAMS software, and simulation results have verified the correctness of the theoretical conclusions.

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