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Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
《机械工程前沿(英文)》 2014年 第9卷 第2期 页码 120-129 doi: 10.1007/s11465-014-0300-3
In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel Kinematic Machine is presented. This mechanism provides translational motion along the Cartesian X-, Y- and Z- axes. It consists of three limbs each having an arm and forearm with prismatic-revolute-revolute-revolute joints. The moving or tool platform maintains same orientation in the entire workspace due to its joint arrangement. From inverse kinematics, the joint angles for a given position of tool platform necessary for the error modeling and analysis are obtained. Error modeling is done based on the differentiation of the inverse kinematic equations. Variation of pose errors along X, Y and Z directions for a set of dimensions of the parallel kinematic machine is presented. A non-dimensional performance index, namely, global error transformation index is used to study the influence of dimensions and its corresponding global maximum pose error is reported. An attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithms in MATLAB. The methodology presented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic Machine under study.
关键词: translational Parallel Kinematic Machine error modeling global error transformation index
Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism
Jialun YANG, Feng GAO,
《机械工程前沿(英文)》 2009年 第4卷 第4期 页码 379-385 doi: 10.1007/s11465-009-0075-0
关键词: 2-DOF orthogonal spherical parallel mechanism singularity loci self-motions
On the location of the secondary instantaneous poles in two-degree-of-freedom spherical mechanisms
Soheil ZARKANDI
《机械工程前沿(英文)》 2014年 第9卷 第1期 页码 34-40 doi: 10.1007/s11465-014-0290-1
As the instant centers in planar mechanisms, the instantaneous poles (or instant poles, in brief) can be used for kinematic analysis in spherical mechanisms. One of the mandatory steps in this analysis is the determination of the location of these poles. This paper presents a theorem showing analytically that the locus of an unknown secondary instant pole in two-degree-of-freedom (2-DOF) spherical mechanisms is a great circle (GC). The exact location of the pole on its GC is obtained based on the configuration of the mechanism and velocity ratio of the two inputs. Moreover, using the results of the theorem, a geometrical technique is presented to determine the GC of the pole.
关键词: spherical mechanisms instantaneous poles great circle angular velocity
Stiffness of a 3-degree of freedom translational parallel kinematic machine
null
《机械工程前沿(英文)》 2014年 第9卷 第3期 页码 233-241 doi: 10.1007/s11465-014-0312-z
In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machine (PKM) is studied and analyzed whose tool platform has only translations along X-, Y- and Z-axes. It consists of three limbs, each of which have arm and forearm with prismatic-revolute-revolute-revolute (PRRR) joints. Inverse kinematics analysis is carried out to find the slider coordinates and joint angles for a given position of tool platform. Stiffness modeling is done based on the compliance matrices of arm and forearm of each limb. Using the stiffness modeling the variations of minimum and maximum translational stiffness in the workspace are analyzed. For various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum stiffness over the entire workspace is studied; and also the deflections of the tool platform along X, Y, and Z directions with respect to various forces are presented.
关键词: 3-DOF translational PKM inverse kinematics stiffness modeling translational stiffness
A survey of instantaneous poles for a class of two-degree-of-freedom spherical mechanisms
Soheil ZARKANDI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 344-353 doi: 10.1007/s11465-014-0320-z
This paper is a detailed exploration of instantaneous poles for a class of two-degree-of-freedom (two-DOF) spherical mechanisms (SMs) with seven links or bars. For two-DOF SMs, the secondary instantaneous poles (the ones which cannot be found by direct inspection) must lie on the specified great circles. For many of these mechanisms, however, some of these great circles cannot be obtained by a direct application of Aronhold-Kennedy theorem. This paper presents geometrical and analytical techniques to locate these unknown great circles for three topologies of seven-bar two-DOF SMs.
关键词: spherical mechanisms instantaneous poles Aronhold-Kennedy theorem great circles pencil of meridian
Hu SHI, Guofang GONG, Huayong YANG
《机械工程前沿(英文)》 2011年 第6卷 第3期 页码 369-376 doi: 10.1007/s11465-011-0223-1
Focusing on a segment erector of a shield-tunneling machine developed with 6 degrees of freedom (DOF) and controlled by electro-hydraulic proportional systems, the kinematics of the segment erection process is presented. The perturbation method in the error analysis is introduced to establish the position and attitude error model, considering a number of factors such as the hydraulic drive, control accuracy, and tolerance in manufacturing and assembly. Dynamic simulations are carried out to obtain the controlling precision of electrohydraulic drive systems. Formulas for calculating the position and attitude error of the grip hand of the segment erector are derived. The calculation results verify the practicality and effectiveness of the error analysis, providing a foundation for practical designing, manufacturing, and assembling of the segment of the erecting mechanism.
关键词: shield tunneling machine segment erector kinematics position and attitude precision
An efficient method for the dynamic interaction of open structure-foundation systems
LIU Jingbo, GU Yin, LI Bin, WANG Yan
《结构与土木工程前沿(英文)》 2007年 第1卷 第3期 页码 340-345 doi: 10.1007/s11709-007-0045-8
关键词: structure-foundation interaction superposition interaction problem freedom efficient
Yonghui WANG, Ximei ZHAI
《结构与土木工程前沿(英文)》 2019年 第13卷 第6期 页码 1432-1445 doi: 10.1007/s11709-019-0566-y
关键词: blast loading curved steel-concrete-steel sandwich shell Pressure-Impulse diagram single-degree-of-freedom method finite element analysis
Regional seismic-damage prediction of buildings under mainshock–aftershock sequence
Xinzheng LU, Qingle CHENG, Zhen XU, Chen XIONG
《工程管理前沿(英文)》 2021年 第8卷 第1期 页码 122-134 doi: 10.1007/s42524-019-0072-x
关键词: regional seismic damage prediction city-scale nonlinear time-history analysis mainshock–aftershock sequence multiple degree-of-freedom (MDOF) model 2014 Ludian earthquake
Iman FATTAHI, Hamid Reza MIRDAMADI, Hamid ABDOLLAHI
《结构与土木工程前沿(英文)》 2020年 第14卷 第3期 页码 675-689 doi: 10.1007/s11709-020-0625-4
关键词: composite beam dynamic finite element degrees of freedom coupling experimental validation numerical validation
Meng WANG, Jia-qiang YANG, Xiang ZHANG, Chang-sheng ZHU
《信息与电子工程前沿(英文)》 2018年 第19卷 第4期 页码 569-581 doi: 10.1631/FITEE.1601390
关键词: 永磁同步电机;离散电流控制器;复矢量
六自由度光栅干涉仪中的无偏溯源角表达法 Research Article
常笛1,2,胡鹏程1,2,谭久彬1,2
《信息与电子工程前沿(英文)》 2021年 第22卷 第12期 页码 1551-1684 doi: 10.1631/FITEE.2000432
三自由度混合磁轴承无模型自适应控制系统 Article
Ye YUAN, Yu-kun SUN, Qian-wen XIANG, Yong-hong HUANG, Zhi-ying ZHU
《信息与电子工程前沿(英文)》 2017年 第18卷 第12期 页码 2035-2045 doi: 10.1631/FITEE.1700324
标题 作者 时间 类型 操作
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
null
期刊论文
Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism
Jialun YANG, Feng GAO,
期刊论文
On the location of the secondary instantaneous poles in two-degree-of-freedom spherical mechanisms
Soheil ZARKANDI
期刊论文
A survey of instantaneous poles for a class of two-degree-of-freedom spherical mechanisms
Soheil ZARKANDI
期刊论文
Drive system design and error analysis of the 6 degrees of freedom segment erector of shield tunneling
Hu SHI, Guofang GONG, Huayong YANG
期刊论文
An efficient method for the dynamic interaction of open structure-foundation systems
LIU Jingbo, GU Yin, LI Bin, WANG Yan
期刊论文
Development of dimensionless P-I diagram for curved SCS sandwich shell subjected to uniformly distributed blast pressure
Yonghui WANG, Ximei ZHAI
期刊论文
Regional seismic-damage prediction of buildings under mainshock–aftershock sequence
Xinzheng LU, Qingle CHENG, Zhen XU, Chen XIONG
期刊论文
Application of consistent geometric decomposition theorem to dynamic finite element of 3D composite beam based on experimental and numerical analyses
Iman FATTAHI, Hamid Reza MIRDAMADI, Hamid ABDOLLAHI
期刊论文