Dynamic Analysis of Stewart Platform by Bond Graphs

Damić, Vjekoslav; Cohodar, Maida

doi:10.1016/j.proeng.2015.01.362

Cited by 20 publications

(13 citation statements)

References 7 publications

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“…After the integration and simplification of Equations (7)(8)(9)(10)(11)(12)(13)(14)(15), the dynamic equations in the robot frame can be determined as follows:…”

Section: Mathematical Model Extraction From the Integrated Bond Graphmentioning

confidence: 99%

Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot

2017

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In this paper, a bond graph model of a mobile robot with four Mecanum wheels is developed to extract a dynamic model of the robot. This is achieved using the BG_V21 tool box of MATLAB. The dynamic model thus obtained is used to derive the control law for trajectory tracking by the robot. There are two control algorithms that are used, namely, the flatness-based controller and the backstepping controller. From the simulation results, it is evident that the extracted dynamic model of the robot is accurate. Moreover, the flatness-based controller proved to have the upper hand in performance over the backstepping controller.

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“…After the integration and simplification of Equations (7)(8)(9)(10)(11)(12)(13)(14)(15), the dynamic equations in the robot frame can be determined as follows:…”

Section: Mathematical Model Extraction From the Integrated Bond Graphmentioning

confidence: 99%

Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot

2017

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“…Meanwhile, the parallel robot has received a great concern from many researchers. Compared with serial robot, the parallel robot is a closed-loop mechanism presenting very good potential in terms of high stiffness, large payload, and high speed capability [7][8][9][10]. It has been widely used in many fields, such as medical equipment, entertainment, and factory automation [11].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Analysis of a Novel 6‐DOF Robotic Crusher Based on Movement Characteristics

Shi

Liu

2019

Mathematical Problems in Engineering

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This paper proposes a novel 6-DOF robotic crusher that combines the performance characteristics of the cone crusher and parallel robot, such as interparticle breakage and high flexibility. Kinematics and dynamics are derived from the no-load and crushing parts in order to clearly describe the whole crushing process. For the no-load case, the kinematic and dynamic equations are established by using analytical geometry and Lagrange equation. Analytical geometry is mainly used to solve the inverse kinematics and then establish the velocity relationship between generalized coordinates and actuators. Lagrange equation which takes into account the weight of the mantle and actuators is used to solve driving forces of actuators. For the crushing case, crushing pressure is related to the compression ratio and particle size distribution, but the selection and breakage functions should be established first. Because the trajectory model of the mantle is difficult to be established by using analytical method, it can be obtained by an eccentric simulation. The results of input velocities and driving forces of actuators are distinctive due to the eccentric angle and selection of the initial position. Finally, the proposed approach is verified by a numerical example and then the energy consumption is calculated.

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“…8 Further, the role of bond graphs and their effectiveness in the modelling and simulation of mechatronics systems was demonstrated by Karnopp et al 9 In fact, bond graphs have been used for the modelling and analysis of complex systems such as space platforms, hexapods, and robotic legs. 10–12 In view of these advantages of the bond graph technique, in this study, we used bond graphs to develop a unified dynamic model of an omnidirectional robot.…”

Section: Introductionmentioning

confidence: 99%

Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot

Sahoo

Chiddarwar

2019

SIMULATION

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Omnidirectional robots offer better maneuverability and a greater degree of freedom over conventional wheel mobile robots. However, the design of their control system remains a challenge. In this study, a real-time simulation system is used to design and develop a hardware-in-the-loop (HIL) simulation platform for an omnidirectional mobile robot using bond graphs and a flatness-based controller. The control input from the simulation model is transferred to the robot hardware through an Arduino microcontroller input board. For feedback to the simulation model, a Kinect-based vision system is used. The developed controller, the Kinect-based vision system, and the HIL configuration are validated in the HIL simulation-based environment. The results confirm that the proposed HIL system can be an efficient tool for verifying the performance of the hardware and simulation designs of flatness-based control systems for omnidirectional mobile robots.

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Dynamic Analysis of Stewart Platform by Bond Graphs

Cited by 20 publications

References 7 publications

Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot

Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot

Dynamic Modeling and Analysis of a Novel 6‐DOF Robotic Crusher Based on Movement Characteristics

Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot

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