Optimal Method of Structural Parameters for Hydraulic 6-Dof Parallel Platform Based on Natural Frequency

Wang, Wei

doi:10.3901/jme.2006.03.077

Cited by 11 publications

(4 citation statements)

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“…37,38 Owing to that the stiffness of the actuator is lower than that of the link material, some researchers have defined the link as a rigid body. 39,40 Because the main emphasis of this research is natural frequency modulation, it is sufficient to reflect the response of the MP by mapping the stiffness of the actuators to the MP.…”

Section: Introductionmentioning

confidence: 99%

Natural frequency modulation of a kinematically redundant planar parallel robot

Xie

Zhang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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When a parallel robot is equipped with kinematic redundancy, it has sufficient capabilities of natural frequency modulation through adjusting geometric configuration. To reduce resonance of a mechanism, this paper investigates the natural frequency modulation of a kinematically redundant planar parallel robot. A double-threshold searching method is proposed for controlling the inverse kinematics solution and keeping the natural frequencies away from the excitation frequency. The effectiveness of modulating the natural frequencies is demonstrated by comparing it with a non-modulation method. The simulation results indicate that, in all directions, the responses are coupled, and every order should be taken into consideration during natural frequency modulation. Compared to the non-modulation method, the proposed method can reduce the resonance amplitude to a certain extent, and the effect of vibration suppression is remarkable.

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Section: Introductionmentioning

confidence: 99%

Natural frequency modulation of a kinematically redundant planar parallel robot

Xie

Zhang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…This requires that the initial response of the simulator hexapod match that of the aircraft being simulated. Many researchers such as ZHANG Yushu [1], HAN Shousong [2], WANG W [3], FU X [4] and WANG Wei [5] have been modeled for the dynamic analysis, they didn't take into account the influence of payload mass and inertia properties on a piloted flight simulator hexapod, but referring to Fig. 1, there is different between hexapod centroid and system center of gravity in a piloted flight simulator and it is difficult to analyze directly using the Lagrange-Euler formulation.…”

Section: Introductionmentioning

confidence: 99%

The Influence of Payload Mass and Inertia Properties on a Piloted Flight Simulator Hexapod Dynamic Performance

Pan¹,

Lü²,

Lin³

2014

AMR

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In order to improve the dynamic performance of a piloted flight simulator hexapod, a study was carried out to quantify the effects of payload mass and inertia properties on hexapod dynamic performance. Based on the Lagrange-Euler formulation, a dynamics model of hexapod parallel mechanism including the payload mass characteristics was built, and then analyzed with the real hexapod through experiments. According to a large amount of experiment datum, the influence of payload mass and inertia properties on a piloted flight simulator hexapod dynamic performance was obtained, and these results are significant for the high speed and high acceleration control of the hexapod mechanism.

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“…The motion platform of the 6-DOF platform is studied mostly [1].But in many cases, only a few degrees of freedom of movement are needed, which for example, a motion platform of 1, 2, 3, 4 degrees of freedom [2][3][4][5][6]. In aspect of drive technology, servo-motor and servo-hydraulic are the two ways which are used generally.…”

Section: Introductionmentioning

confidence: 99%

Design and Realization of Control System of a Novel Digital Hydraulic 2-DOF Motion Platform

Xiong¹,

Ji-feng²,

Peng³

2012

Proceedings of the 1st International Conference on Mechanical Engineering and Material Science

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Motion platform is widely used to simulate the movement of ship and vehicle, which is of great value for testing of ship and vehicle equipment, motion simulator for training to steer. A novel digital hydraulic 2-DOF motion platform for simulating marine environment is developed, which include incremental stepping motor, four-edge slide spool valve, asymmetric hydraulic cylinder and structure of motion platform, as well as synchronous feedback mechanism. An all-digital control system of the motion platform is designed in accordance with its approximate open-loop control characteristics. The two degrees of freedom of movement of the motion platform can be controlled independently and multiple protection measures are designed to protect the motion platform. It has been proved that the control system not only can control the movement of the platform accurately, but also can provide the anti-interference ability and stable operation system.

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Optimal Method of Structural Parameters for Hydraulic 6-Dof Parallel Platform Based on Natural Frequency

Cited by 11 publications

References 0 publications

Natural frequency modulation of a kinematically redundant planar parallel robot

Natural frequency modulation of a kinematically redundant planar parallel robot

The Influence of Payload Mass and Inertia Properties on a Piloted Flight Simulator Hexapod Dynamic Performance

Design and Realization of Control System of a Novel Digital Hydraulic 2-DOF Motion Platform

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