An Application of a 3-DOF Parallel Manipulator for Earthquake Simulations

Ceccarelli, Marco; Ottaviano, Erika; Castelli, Gianni

doi:10.22260/isarc2005/0009

Cited by 6 publications

(3 citation statements)

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“…Parallel robots have attracted extensive attention from academia and industry over the last few decades. [1][2][3] Due to the closed-loop structure features, compared with serial robots, parallel robots own advantages in stiffness and dynamics, which make them possible to work at a high speed and yet maintain a high level of accuracy. Therefore, parallel robots are widely used in industrial production lines to complete high-speed sorting, packing, stacking, and assembling.…”

Section: Introductionmentioning

confidence: 99%

A hierarchical approach for rigid-body dynamics model simplification of a high-speed parallel robot by considering kinematics performance

Mei

2021

Science Progress

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Considering the real-time control of a high-speed parallel robot, a concise and precise dynamics model is essential for the design of the dynamics controller. However, the complete rigid-body dynamics model of parallel robots is too complex for online calculation. Therefore, a hierarchical approach for dynamics model simplification, which considers the kinematics performance, is proposed in this paper. Firstly, considering the motion smoothness of the end-effector, trajectory planning based on the workspace discretization is carried out. Then, the effects of the trajectory parameters and acceleration types on the trajectory planning are discussed. But for the fifth-order and seventh-order B-spline acceleration types, the trajectory will generate excessive deformation after trajectory planning. Therefore, a comprehensive index that considers both the motion smoothness and trajectory deformation is proposed. Finally, the dynamics model simplification method based on the combined mass distribution coefficients is studied. Results show that the hierarchical approach can guarantee both the excellent kinematics performance of the parallel robot and the accuracy of the simplified dynamics model under different trajectory parameters and acceleration types. Meanwhile, the method proposed in the paper can be applied to the design of the dynamics controller to enhance the robot's performance.

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Section: Introductionmentioning

confidence: 99%

A hierarchical approach for rigid-body dynamics model simplification of a high-speed parallel robot by considering kinematics performance

Mei

2021

Science Progress

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“…A seismic simulator is one of the most important equipments in the earthquake resistance testing. Due to the requirement of the large and variable load capability, these kinds of equipments are usually developed with the parallel structure manipulators [1][2][3][4]. The parallel manipulator is a closedloop kinematic chain mechanism whose end effector is linked to the base by several independent kinematic chains [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Kineto-Elastodynamic Characteristics of the Six-Degree-of-Freedom Parallel Structure Seismic Simulator

Zhao

2011

Journal of Robotics

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Based on the kineto-elastodynamic assumptions, the dynamic model of the six-degree-of-freedom parallel structure seismic simulator is developed by virtue of the finite element method and the substructure synthesis technique. The kineto-elastodynamic characteristics represented by the natural frequency, the sensitivity analysis, the energy ratios, and the displacement response of the moving platform are investigated. It is shown that the second-order natural frequency is much higher than the first-order natural frequency, and the first-order natural frequency is sensitive to the radius of the strut and the radius of the lead screw. In order to improve the dynamic characteristic of the manipulator, the mass of the moving platform should be reduced or the stiffness of the strut should be increased especially for the sixth strut. For the investigated trajectory, the displacement response of the moving platform along the x direction is smaller than these displacement responses along the y direction and along the z direction. The angular displacement response of the moving platform rotating about z-axis is slightly larger than those angular displacement responses rotating about the x-axis and about the y-axis. ⎡ ⎣ U si (1 : 18, 1 : 1) U ci ⎤ ⎦ , M ki = ⎡ ⎣ M si (1 : 18, 1 : 18) M si (1 : 18, 21 : 21) M si (21 : 21, 1 : 18) M si (21 : 21, 21 : 21) + m ci ⎤ ⎦ i = 1, 2, 3, M ki = ⎡ ⎣ M si

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“…Modern shaking tables consist of a rectangular platform that is driven in up to six DOF by servo-hydraulic or other types of actuators with the test specimens fixed to the platform (see Figure 1-2); these are shaken following representative conditions of true earthquake ground motions, often to the point of failure [14]. The Centro de Ingeniería y Desarrollo Industrial (CIDESI) Hexapod robotic system is a project that aims to develop an industrial grade robotic system that provides functionalities similar to those usually found in an industrial robot; the CIDESI Hexapod has been designed to be operated by a human operator (User), or by another system or device (Application) like, e.g.…”

mentioning

confidence: 99%

Control of a Stewart-Gough Platform for Earthquake Ground Motion Simulation

Requena

Estrada

Ramírez

et al. 2020

Mechanisms and Machine Science

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Toledo Ramírez for being my first and second advisor in México, let me work on this project and all the help and support that they provided me in the development of this thesis.A special thanks to Prof. Dr. rer. nat Klaus-Peter K ämper and Dr. Eng. J örg Wollert for their support, help and contribution to my formation during my studies at the FH Aachen in Germany.Thank you to my classmates that shared with me a lot of experiences, good times and helped me whenever i needed it, becoming my friends.Finally, thank you to my mother, grandmother and my grandfather. They were supporting me all the time despite the distance and circumstances, pushing me to reach my goals; without them this would be impossible.

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An Application of a 3-DOF Parallel Manipulator for Earthquake Simulations

Cited by 6 publications

References 4 publications

A hierarchical approach for rigid-body dynamics model simplification of a high-speed parallel robot by considering kinematics performance

A hierarchical approach for rigid-body dynamics model simplification of a high-speed parallel robot by considering kinematics performance

Kineto-Elastodynamic Characteristics of the Six-Degree-of-Freedom Parallel Structure Seismic Simulator

Control of a Stewart-Gough Platform for Earthquake Ground Motion Simulation

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