A novel parallel micromanipulator with large range of motion based on flexible hinges is designed and analyzed in this paper, which has three degrees of freedom motions along x, y and z axes. The Pseudo-Rigid-Body (PR...
详细信息
ISBN:
(纸本)9781467391085
A novel parallel micromanipulator with large range of motion based on flexible hinges is designed and analyzed in this paper, which has three degrees of freedom motions along x, y and z axes. The Pseudo-Rigid-Body (PRB) model method is applied to obtain the kinetic performance and inputting stiffness. To calculate the natural frequency of the mechanism, the Lagrange method is used to achieve the dynamic and frequency equations. In addition, the working range of the architecture is also calculated, analyzed and compared with other similar structures by using ANSYS software, our designed micromanipulator has larger workspace than other existed stages.
The reaction-diffusion neural network is often described by semilinear diffusion partial differential equation (PDE). This article focuses on the asymptotical synchronization and synchronization for coupled reaction-d...
详细信息
In this paper, a passivity-based synchronization method is proposed for a new hyperchaotic Lorenz system based on Lyapunov stability theory and linear matrix inequality (LMI) approach. On the basis of the property of ...
详细信息
ISBN:
(纸本)9781467373395
In this paper, a passivity-based synchronization method is proposed for a new hyperchaotic Lorenz system based on Lyapunov stability theory and linear matrix inequality (LMI) approach. On the basis of the property of the passive system, the passive controller is designed and synchronization of two identical new hyperchaotic Lorenz systems with different initial conditions is realized. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed chaos control and synchronization schemes.
This paper presents a systematic and comprehensive modeling approach for the derivation of a nonlinear dynamic model of a unmanned aerial vehicle (UAV) quadrotor. The model incorporates a couple of significant aerodyn...
详细信息
ISBN:
(纸本)9781467391054
This paper presents a systematic and comprehensive modeling approach for the derivation of a nonlinear dynamic model of a unmanned aerial vehicle (UAV) quadrotor. The model incorporates a couple of significant aerodynamic effects impacting on the quadrotor flight in different regimes. The controller is accordingly designed to accommodate both specific and uncertain dynamics of the quadrotor. The control laws of linear quadratic regulator (LQR) coupled with sliding mode control (SMC) are applied to the controller design so as to perform the optimal and robust control of the vehicle. The experimental results demonstrate the designed control algorithms are capable of delivering an remarkable performance on tracking of the reference input signals.
Dynamic performance evaluation that takes into account the inertial properties is an important issue for both the behavior analysis and dimensional synthesis of parallel kinematic manipulators (PKMs). Firstly, by virt...
详细信息
ISBN:
(纸本)9781467396769
Dynamic performance evaluation that takes into account the inertial properties is an important issue for both the behavior analysis and dimensional synthesis of parallel kinematic manipulators (PKMs). Firstly, by virtue of the principle of virtual work, the complete inverse dynamic model of a 3-prismatic-universal-universal (PUU) parallel manipulator is formulated, which does not neglect the inertial and gravitational properties of the struts. The condition number of generalized inertia matrix can evaluate the mapping from joint accelerations to realizable joint torques. This paper utilizes the condition number of generalized inertia matrix as the index to evaluate the dynamic dexterity property of a 3-PUU PKM which possesses three translational degrees of freedom. For a given set of geometrical and inertia parameters, numerical simulations indicate that the global dynamic dexterity performance of this type of 3-PUU PKM is consistent with the local dynamic dexterity on a specific z--plane, it has the best dynamic dexterity at the center of task workspace and decreases from the center to the edge of task workspace.
暂无评论