Dynamics and Control of Planar, Translational, and Spherical Parallel Manipulators

Glazunov, Victor; Kheylo, Sergey

doi:10.1007/978-3-319-17683-3_15

Cited by 15 publications

(2 citation statements)

References 12 publications

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“…The variable coefficients can be determined from the equations of the direct problem of velocities by screw calculus. 13,14 Since the power screw interacts with the unit vectors of the nondriving pairs, then the relative moments mom( R i , Ω i 2 ) = 0, mom( R i , Ω i 3 ) = 0. So mom( R i , Ω i ) = mom( R i , Ω i 1 ).…”

Section: Nonlinear Oscillationsmentioning

confidence: 99%

Oscillations and control of spherical parallel manipulator

Nhân

Kheylo

et al. 2019

International Journal of Advanced Robotic Systems

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In recent years, there has been a growing number of studies in spherical parallel mechanisms, particularly synthesis, kinematics, and work area singularities. The interaction of degrees of freedom and geometry leads to the nonlinear phenomena, in the dynamics of mechanism. There are few studies into the dynamic properties of such mechanisms. This article deals with the dynamic property of the parallel spherical manipulators, with three degrees of freedom, and presents determination of acceleration input links, oscillations, and the problem of control. Algorithm of control is based on the concept of minimized coordinates, velocities, and acceleration using inverse dynamic problems. This allows synthesis of this algorithm, which can realize a motion in accordance with prescribed trajectories. Finally, the results of calculations are defined.

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Section: Nonlinear Oscillationsmentioning

confidence: 99%

Oscillations and control of spherical parallel manipulator

Nhân

Kheylo

et al. 2019

International Journal of Advanced Robotic Systems

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“…Developing a dynamic model for parallel manipulators is also a tedious and complicated task [21]. Most of the researchers have used the Lagrange method [22], the Newton Euler Method [23], and the principle of virtual work [24] to develop the dynamic model for the parallel manipulators [25][26][27][28]. The driving force for the Platform by neglecting the leg inertia is presented by Fichter [29].…”

Section: Introductionmentioning

confidence: 99%

Energy Efficient Parallel Configuration Based Six Degree of Freedom Machining Bed

et al. 2021

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The process of material removal from a workpiece to obtain the desired shape is termed machining. Present-day material removal technologies have high spindle speeds and thus allow quick material removal. These high-speed spindles are highly exposed to vibrations and, as a result, the accuracy of the final workpiece’s dimensions is compromised. To overcome this problem, the motion of the tool is restricted, and multiple degrees of freedom are given through the motion of the workpiece in different axes. A machining bed configured as a parallel manipulator capable of giving six degrees of freedom (DOF) to the workpiece is proposed in this regard. However, the proposed six DOF machining bed should be energy efficient to avoid an increase in machining cost. The benefit of using the proposed configuration is a reduction in dimensional error and computational time which, as a result, reduces the energy utilization, vibrations, and machining time in practice. This paper presents kinematics, dynamics and energy efficiency models, and the development of the proposed configuration of the machining bed. The energy efficiency model is derived from the dynamics model. The models are verified in simulation and experimentally. To minimize error and computation time, a PID controller is also designed and tested in simulation as well as experimentally. The resulting energy efficiency is also analyzed. The results verify the efficacy of the proposed configuration of the machining bed, minimizing position error to 2% and reducing computation time by 27%, hence reducing the energy consumption and enhancing the energy efficiency by 60%.

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