In the paper is presented a simulation system for parallel robots, which deals with the robot kinematics, workspace generation, singular position identification and trajectory visualization. The latest obtained result...
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ISBN:
(纸本)3901249850
In the paper is presented a simulation system for parallel robots, which deals with the robot kinematics, workspace generation, singular position identification and trajectory visualization. The latest obtained results demonstrate that from the kinematic model and the graphical simulation the implemented algorithms offer a higher degree of generality. Therefore the developed simulation software modules may be applied to different types of parallel robots with three degrees of freedom. The computing time necessary for generating the virtual model is relatively small.
The parallel robots dynamics requires a great deal of computing as regards the formulation of the generally nonlinear equations of motion and their solution. In this paper different solutions for solving the dynamical...
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ISBN:
(纸本)3901249850
The parallel robots dynamics requires a great deal of computing as regards the formulation of the generally nonlinear equations of motion and their solution. In this paper different solutions for solving the dynamical model for the guided in three points parallel robots are presented. The derived dynamical algorithms offer the possibility of a complex dynamic study for these parallel robots in order to evaluate their dynamic capabilities and to generate the control algorithms.
The nonlinear random vibration issues are analyzed by the use of parabolic partial differential equations. Among them, the Fokker-Planck equation is a very powerful tool for obtaining statistical information, because ...
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The nonlinear random vibration issues are analyzed by the use of parabolic partial differential equations. Among them, the Fokker-Planck equation is a very powerful tool for obtaining statistical information, because it is derived on a probabilistic basis and can be formulated to govern random processes in spring-mass mechanical systems. If a single degree-of-freedom (SDOF) mechanical system is excited by wideband random noise, the statistical behaviour for the relative displacement of the mass can be determined by numerical solving the Fokker-Planck equation. A C++ computer program was written for the two-dimensional finite differences method, with initial value conditions. The numerical method is based on an operator splitting technique combined with an alternating-direction implicit (ADI) method. The white noise like signal is substituted by a true-random number generator that gives uniform random deviates, of real number type. For a concrete example with Gaussian distribution initial conditions, several 3D plots are given for the calculated probability density function.
In this paper a complete equivalent electric circuit for a planar shear piezoelectric accelerometer is presented. Starting from the KLM (Krimholtz-Leedom-Matthaei) approach for a single piezoceramic plate sandwiched b...
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The algorithm of the dynamic control functions achieves a complex modeling regarding the behavior of any mechanical robot structure. First of all, considering the kinetic links dominated of stiffness hypothesis, on th...
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The algorithm of the dynamic control functions achieves a complex modeling regarding the behavior of any mechanical robot structure. First of all, considering the kinetic links dominated of stiffness hypothesis, on the basis of the new formulations with matrix exponentials, in this paper, the differentials expressions answerable to the forward kinematics of mechanical robot structures were presented. On the basis of these equations, in the following, the generalized dynamics forces were also analyzed for the robots with rigid and elastic structure
＜正＞Parallel Kinematic Machines （PKM）, i.e. machines based on parallel structures, have become a more and more promising alternative to conventional serial machines in the field of handling units, robots and machi...
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＜正＞Parallel Kinematic Machines （PKM）, i.e. machines based on parallel structures, have become a more and more promising alternative to conventional serial machines in the field of handling units, robots and machine tools. Just replacing the serial type with the parallel one is not recommended here. To find a technical as well as economical basis of decision it is necessary to define characteristic functions and assign indices to create structural performance criteria of the mechanical system. Characteristic functions may become thereafter elements of a global goal or cost function in a following optimization procedure.
The paper studies the motion laws influence over the VIPAS1 industrial robot working. The motion differential equations, that govern the motion robot were established. Using them we can study the direct problem for th...
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