Dynamics analysis, offline–online tuning and identification of base inertia parameters for the 3-DOF Delta parallel robot under insufficient excitations

Meccanica ◽  
2022 ◽  
Author(s):  
Faraz Abed Azad ◽  
Saeed Ansari Rad ◽  
Mohammad Reza Hairi Yazdi ◽  
Mehdi Tale Masouleh ◽  
Ahmad Kalhor
Keyword(s):  
Parallel Robot ◽  
Dynamics Analysis ◽  
Inertia Parameters ◽  
Online Tuning

Dynamics Design of a Planar Controllable Five Bar Mechanism Based on Genetic Algorithm

2007 ◽  
Author(s):  
Ke Zhang
Keyword(s):  
Genetic Algorithm ◽  
Optimization Design ◽  
Optimization Method ◽  
Parallel Robot ◽  
Bond Graph ◽  
Dynamics Analysis ◽  
Hybrid Mechanism ◽  
Ga Algorithm ◽  
Power Bond Graph ◽  
Bond Graph Theory

A hybrid five bar mechanism is a typical planar parallel robot. It is a configuration that combines the motions of two characteristically different motors by means of a five bar mechanism to produce programmable output. Hybrid five bar mechanism is the most representative one of hybrid mechanism. In this paper, considering the bond graph can provide a compact and versatile representation for kinematics and dynamics of hybrid mechanism, the dynamics analysis for a hybrid five-bar mechanism based on power bond graph theory is introduced. Then an optimization design of hybrid mechanism is performed with reference to dynamic objective function. By the use of the properties of global search of genetic algorithm (GA), an improved GA algorithm is proposed based on real-code. Optimum dimensions are obtained assuming there are no dimensional tolerances or clearances. Finally, a numerical example is carried out, and the simulation result shows that the optimization method is feasible and satisfactory in the design of hybrid mechanism.

scholarly journals Dynamics Analysis of a Novel 3-PSS Parallel Robot Based on Linear Motor

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 119048-119061
Author(s):  
Zefeng Xu ◽  
Liqi Yang ◽  
Wenkai Huang ◽  
Lingkai Hu
Keyword(s):  
Parallel Robot ◽  
Linear Motor ◽  
Dynamics Analysis

Dynamic Modeling of Overconstrained Parallel Robot

2013 ◽  
Vol 373-375 ◽  
pp. 34-37
Author(s):  
Jian Xin Yang ◽  
Zhen Tao Liu ◽  
Jian Wei Sun
Keyword(s):  
Dynamic Modeling ◽  
Virtual Work ◽  
Parallel Robot ◽  
Tree Structure ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Forward Dynamics ◽  
Principle Of Virtual Work ◽  
Closed Form Solutions ◽  
Dynamics Models

The dynamic modeling method for parallel robot based on the principle of virtual work and equivalent tree structure is proposed by taking off the platform and the chains as well as degenerating parallel robot into a tree structure, the closed-form solutions for the inverse and forward dynamics models of parallel robot are derived. The method is applied on kinematics and dynamics analysis of a representative 3-RRR spherical parallel robot.

scholarly journals Dynamics analysis of spatial parallel robot with rigid and flexible links

2020 ◽  
Vol 17 (6) ◽  
pp. 7101-7129
Author(s):  
Qingyun Zhang ◽  
◽  
Xinhua Zhao ◽  
Liang Liu ◽  
Tengda Dai ◽  
...  
Keyword(s):  
Parallel Robot ◽  
Dynamics Analysis ◽  
Flexible Links

Dynamics analysis of hybrid parallel robot

2015 ◽  
Author(s):  
Y. Wu ◽  
Z. Fu ◽  
J. N. Xu ◽  
W. X. Yan ◽  
W. H. Liu ◽  
...  
Keyword(s):  
Parallel Robot ◽  
Dynamics Analysis

Inverse Dynamics Analysis of a 4-d.o.f. Parallel Robot H4

2010 ◽  
Vol 24 (1-2) ◽  
pp. 159-177 ◽  
Author(s):  
Hee-Byoung Choi ◽  
Atsushi Konno ◽  
Masaru Uchiyama
Keyword(s):  
Inverse Dynamics ◽  
Parallel Robot ◽  
Dynamics Analysis ◽  
Inverse Dynamics Analysis
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