A novel approach of input tolerance design for parallel mechanisms using the level set method

Zhao, Qiangqiang; Guo, Junkang; Yu, Dewen; Hong, Jun; Liu, Zhigang

doi:10.1177/0954405419863228

Cited by 2 publications

(2 citation statements)

References 37 publications

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“…As follows from the analysis of the functional model, the following algorithms are needed [4][5][6][7][8][9][10][11][12][13][14][15][16][17][18]:…”

Section: Development Of Algorithmsmentioning

confidence: 99%

Application of Modern Information Technologies in the Formation of Collective Design Competencies on the Example of Group Management of Heterogeneous Robots

Romanova

2020

ITM Web Conf.

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The subject of these studies is to propose an approach to the formation of collective design competencies in the new digitalization environment. The relevance of the task in various fields of activity is shown. It is noted that while the latest information technologies, which appeared in the era of universal digitalization, are not yet sufficiently applied to build the competencies of designers as part of collective activities, the training of specialists is mainly carried out as part of individual projects. The studies were conducted on the basis of the actual applied task of collective design of group control of heterogeneous robots. The unique relationship of the object (group control) and the method of its research (group parallel design) is noted. A connection is established between the features of the ongoing project of group control of robots and the formation of in-depth competencies in the training of specialists in robotics and mechatronics. New representations of functional models are formed taking into account the needs of new information technologies. Within the framework of parallel and compositional design technologies based on CDP4 ™- and System Composer ™, models have been obtained that implement functional schemes for group control of heterogeneous robots in two versions, suitable for use both for educational purposes to form team design competencies and for real projects.

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“…As follows from the analysis of the functional model, the following algorithms are needed [4][5][6][7][8][9][10][11][12][13][14][15][16][17][18]:…”

Section: Development Of Algorithmsmentioning

confidence: 99%

Application of Modern Information Technologies in the Formation of Collective Design Competencies on the Example of Group Management of Heterogeneous Robots

Romanova

2020

ITM Web Conf.

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“…Accuracy is a kernel issue for parallel mechanisms [16] because the multi-joint structure of struts can amplify the motion errors of the actuators mounted on the struts [17,18]. The condition number (CN) of the Jacobian matrix [19] is used to describe the error amplification factor, where the Jacobian matrix is utilized to quantify the motion and force transmissibility of the actuators to the mobile plate (MP).…”

Section: Introductionmentioning

confidence: 99%

Design and Experiment of a Multi-DOF Shaker Based on Rotationally Symmetric Stewart Platforms with an Insensitive Condition Number

Liang,

Li,

Huang

et al. 2023

Actuators

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This study proposes a method for designing a class of rotationally symmetric Stewart platforms (RSSPs) with an insensitive condition number (ICN), which is used to minimize the condition number to achieve a high accuracy for a multi-degree-of-freedom (multi-DOF) shaker. Considering the rotational symmetry of RSSPs, an analytical relationship between the architecture parameters and transfer coefficients is first established. Then, the decoupling conditions of the RSSPs are derived, and the transfer coefficient formulas are simplified by the given decoupling conditions and iso-length assumption. Following further analyses and discussions, the ICN condition and analytical form of the condition number are provided. The area of the ICN (AICN) is, subsequently, derived to evaluate the insensitivity of the condition number. To validate the effectiveness of the method, a design example (ICN-RSSP), along with a numerical analysis, is implemented, and, finally, a multi-DOF shaker is developed. The results of the numerical analysis show a smaller condition number and a larger AICN than those of the RSSP, for comparison. And the experiment results of the multi-DOF shaker show a high accuracy of vibration waveform reproduction. The method can reduce the condition number of RSSPs, improve the insensitivity, and further improve the accuracy of the multi-DOF shaker.

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A novel approach of input tolerance design for parallel mechanisms using the level set method

Cited by 2 publications

References 37 publications

Application of Modern Information Technologies in the Formation of Collective Design Competencies on the Example of Group Management of Heterogeneous Robots

Application of Modern Information Technologies in the Formation of Collective Design Competencies on the Example of Group Management of Heterogeneous Robots

Design and Experiment of a Multi-DOF Shaker Based on Rotationally Symmetric Stewart Platforms with an Insensitive Condition Number

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