Study of a Half Small Scale Quadricopter Balance: Illustration of a Complex Analogue Electronic Feed Back

This paper presents the study and the realization of an electronic analogue feed back stabilisation system for a small scale “half-quadricopter”. Such flying objects are now well-known and many commercial systems are available. However, they look as full digital embedded “black boxes”. The originality of our work stands in the practical approach, “intuitive” understanding and the analogue electronic COTS design of a complex system. Moreover, this subject is a concrete opportunity to illustrate the feedback major concepts. We give first the context of the study and the mains specifications. Available hardware (mechanical parts, sensors) are briefly described. After characterisations, modelling and simulations are presented. Some experimental results are given before concluding.

A Study on the PUMA560 Robot Motion in ADAMS/View

It proposes an efficient method for kinemics analysis of PUMA560 robot in ADAMS/View in this paper. Comparing with the past, it builds a virtual model of the robot in ADAMS/View. By the way of dynamic simulation, the normal solutions and inverse solutions of the PUMA560 robot are obtained, and this can provide a good study basis for the operability degree and space locus analysis of this kind of mechanics. In addition, a parameterized virtual model of the robot can be build by the ADAMS secondary development technology (APDL), which can accomplish multiple dynamics analysis of the similar kind of mechanics and provide a reliable method for analyzing the effects of mechanical random errors on its motion. This new method needs not to build complex analogue to solve the mechanic, conveniently, shortcut and accurately, and have definite theory meaning and application value in dynamic analysis.

A Study on the Rigidity and Flexibility Coupled Dynamic Analysis Method of the PUMA560 Robot

Created in ADAMS/View virtual environment, it combines the complementary advantages of the ADAMS secondary development programming technology APDL and VC++6.0 to build a rigidity and flexibility coupled parameterized dynamic simulation model of the PUMA560 robot, while through the self defining function of constraints and loads, it realizes the model drive loading . After multiple dynamic simulations, normal solutions and inverse solutions of the PUMA560 robot are obtained, and this can provide a foundation for the research on the operability and space locus of the PUMA560 robot. Meanwhile, this new method is also true for other similar kind of rigidity and flexibility coupled mechanics dynamic simulation and a reliable pathway for the analysis of mechanic random errors effect on its motion as well. The excellent feature of this new method is that it will considerate sufficiently the effects of key part’s elastic deformation on the entire mechanic motion, while it needs not to create complex analogue to solve the mechanic, rapidly, conveniently and with high accuracy, which has good theoretical meaning and application value.