Modeling and control of magnetorheological 6-DOF stewart platform based on multibody systems transfer matrix method

Jiang, Min; Rui, Xiaoting; Zhu, Wei; Yang, Fufeng; Zhang, Jianshu

doi:10.1088/1361-665x/ab675a

Cited by 25 publications

(13 citation statements)

References 32 publications

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“…Therefore, the nonlinear model of the MR hydro-pneumatic spring can be established by combining the elastic force calculation model of the accumulator and the Bouc-Wen model of the MR damper. The mathematical expression of Bouc-Wen model of the MR hydro-pneumatic spring can be obtained from Equations ( 29) to (31), as shown in Equation (32) and Equation (33).…”

Section: Nonlinear Model Of the Mr Hydro-pneumatic Springmentioning

confidence: 99%

“…Based on my previous research [31,32], the parameter identification method of MR damper Bouc-Wen model is used to identify the parameters of the MR hydropneumatic spring's Bouc-Wen model. The identification results are shown in Table 4.According to Table 4, the relationship between parameters and current is fitted by the least square method.…”

Section: Nonlinear Model Of the Mr Hydro-pneumatic Springmentioning

confidence: 99%

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Design and dynamic performance research of MR hydro-pneumatic spring based on multi-physics coupling model

et al. 2023

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Aiming at the problem that the damping coefficient of the traditional hydropneumatic spring cannot be adjusted in real-time, the magnetorheological (MR) damping technology was introduced into the traditional hydro-pneumatic spring with single gas chamber. A new shear-valve mode MR hydro-pneumatic spring was proposed. And its dynamic performance was analyzed based on multi-physical coupling simulation and mechanical property test. Firstly, a structural scheme of MR hydropneumatic suspension was proposed to ensure the original height adjustment function based on the working principle of traditional hydro-pneumatic suspension with single gas chamber. Secondly, based on the design requirements, the parameter of MR hydropneumatic spring damping structure was designed by using MR damper design method. Thirdly, the multi-physical coupling dynamic performance of the MR hydro-pneumatic spring damping structure was analyzed based on the electromagnetic field analysis theory, flow field analysis theory and thermal field analysis theory. The analysis results showed that the designed MR hydro-pneumatic spring has reasonable magnetic circuit structure and excellent working performance. Then, the mechanical properties of MR hydro-pneumatic spring were tested. The results showed that the maximum damping force can reach 20kN, and the dynamic adjustable multiple can reach 6.4 times. It has good controllability and meets the design requirements. Finally, a nonlinear model of MR hydro-pneumatic spring was established based on the elastic force calculation model of the gas and the Bouc-Wen model. The simulation results of the established model agree well with the experimental results, which can accurately describe the dynamic properties of the hydro-pneumatic spring. The proposed design and modeling method of the MR hydro-pneumatic spring can provide a theoretical basis for the related vibration damping devices.

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Section: Nonlinear Model Of the Mr Hydro-pneumatic Springmentioning

confidence: 99%

Section: Nonlinear Model Of the Mr Hydro-pneumatic Springmentioning

confidence: 99%

Design and dynamic performance research of MR hydro-pneumatic spring based on multi-physics coupling model

et al. 2023

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“…The extolling virtues of the DT-TMM have brought about the use of this method in kinematic and dynamic analysis and the optimization of rigid parallel manipulators such as Stewart platform (Jiang et al, 2020(Jiang et al, , 2021 and a planar 3-PRR manipulator (Si et al, 2020). After when the DT-TMM was used to examine the small deformation of a single flexible link manipulator under feedback control (Krauss and Okasha, 2013), the acceleration-based DT-TMM was proposed for flexible link manipulators (Zhang et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

“…Concerning time discretization, a simple algorithm of implicit time integration is employed in the DT-TMM. In almost mentioned studies, researchers have used the Newmark-β method (Bærenholdt et al, 2019; Feyzollahzadeh and Bamdad, 2019; Jiang et al, 2020; Krauss and Okasha, 2013; Zhang et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Efficient technique in computational dynamic modeling of a flexible manipulator with large deformation

Feyzollahzadeh

Bamdad

2022

Journal of Vibration and Control

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In the flexible manipulators, the links could be modeled using rigid elements and torsional springs, and similarly, the flexibility in actuators could be represented with the equivalent springs. This study applies the discrete time transfer matrix method for the dynamic analysis of flexible manipulators with large deformations. On a first-priority basis, transfer matrices are determined, including all the flexible link/joint mechanism components. A single transfer matrix is established for prismatic and rotational actuators with equivalent springs to build the robotic transfer matrix library. On the second priority, to reduce the computation time, a novel algorithm is developed. In the proposed flexible link discretization, the first element of the flexible link is considered as a function of other elements. It is designed to build a mathematical model as closely as possible to the realistic model with fewer elements. It is presented that this modeling technique can employ discrete data extracted by the sensors. The simulation primarily focuses on developing flexible beam/joint models validated in ADAMS. Besides, the dynamic behavior of a flexible PR robot with external forces acting on the linkage system is analyzed and examined. The result shows that the proposed modeling method affords a low computational time while the manipulator control needs to manage fast responses.

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“…Kane method [28][29][30], virtual work principle [24], finite element method [31,32], and a linear multibody system transfer matrix method [33][34][35].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Vibration Analysis of a 3‐UPU Parallel Vibration Isolation Platform with Linear Motors Based on MS‐DT‐TMM

Chen

Tong

Yang

et al. 2021

Shock and Vibration

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The dynamics and vibration characteristics of a 3-UPU parallel mechanism isolator are investigated by theoretical modeling, numerical simulation, and experimental study. The system consists of two platforms, three linear motors, and the Hook hinges. Firstly, the dynamical mathematical model of this vibration isolator is innovatively established and solved by using the discrete-time transfer matrix method of the multibody system (MS-DT-TMM). According to the modeling principle, the transfer matrix of each component is derived, including the upper and lower platforms, Hooke hinges, and linear motors. Then, the dynamical equation of the overall system is obtained by multiplying all transfer matrices. Secondly, the solution of equation is calculated through the setting of boundary conditions. The numerical simulation is carried out according to the known parameters. The dynamical and vibration analysis of the isolation platform is performed, involving the displacement and force characteristics of the branches. Furthermore, in view of the fact that the Hooke hinges and linear motors are simplified as spatial elastic hinges in modeling. The vibration suppression effect caused by adjusting spring stiffness and damping coefficient is discussed. The simulation results verified the correctness of the MS-DT-TMM method through the comparison with ADAMS simulation results. Finally, the prototype of the vibration isolator is constructed and assembled, and the vibration experiment is conducted. By testing the responses of the isolation device mounted on the vibration table, the natural frequency of the isolator is obtained. The purpose of this experiment is to avoid resonance when it is applied as a vibration isolator in the future. This paper provides a theoretical basis for the later vibration research and control scheme design of the 3-UPU parallel vibration isolation platform.

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Modeling and control of magnetorheological 6-DOF stewart platform based on multibody systems transfer matrix method

Cited by 25 publications

References 32 publications

Design and dynamic performance research of MR hydro-pneumatic spring based on multi-physics coupling model

Design and dynamic performance research of MR hydro-pneumatic spring based on multi-physics coupling model

Efficient technique in computational dynamic modeling of a flexible manipulator with large deformation

Modeling and Vibration Analysis of a 3‐UPU Parallel Vibration Isolation Platform with Linear Motors Based on MS‐DT‐TMM

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