Simulation Modeling of the Motion Control of a Two Degree of Freedom, Tendon Based, Parallel Manipulator in Operational Space Using MATLAB

Huang, Jiu; Hiller, Manfred; Fang, Shiqing

doi:10.1016/s1006-1266(07)60067-4

Cited by 7 publications

(4 citation statements)

References 4 publications

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“…Using the numerical calculation function and data visualization function in MATLAB, the workspace of the robot can be solved efficiently and quickly. 23 The working range of the robot is drawn according to equation (27) of the robot kinematics. This is shown in Figure 5(a).…”

Section: Kinematics Simulationmentioning

confidence: 99%

Forward kinematics analysis and experiment of hybrid high-altitude board installation robot based on screw theory

Zhao

Zhang

et al. 2019

Advances in Mechanical Engineering

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In order to meet the requirements of mechanization and automatic installation of high-altitude boards, a hybrid highaltitude board installation robot is designed. At the same time, a method based on screw theory is proposed to avoid the defects of kinematics analysis of robots using the traditional Denavit-Hartenberg parameter method. It is to construct a kinematic equation for the hybrid robot. According to the kinematics equation of the robot, the forward solution of the end-effector position is obtained. Besides, the workspace cloud image of the robot end-effector is worked out by MATLAB. By means of the equation to test the kinematics of the robot, the absolute error is 0.5 mm between the theoretical value and the actual value of the end-effector coordinate system position. It meets the national standard for board gaps. This study provides reference for subsequent research works on control technique and trajectory planning of the hybrid robot of high-altitude board installation.

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Section: Kinematics Simulationmentioning

confidence: 99%

Forward kinematics analysis and experiment of hybrid high-altitude board installation robot based on screw theory

Zhao

Zhang

et al. 2019

Advances in Mechanical Engineering

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“…It contained mainly a feed forward part of inverse dynamics and feedback loop. The control scheme is shown in Fig.5 [15,19,25].…”

Section: Motion Control Of System 41 Control Scheme and Forward Kinementioning

confidence: 99%

“…FANG et al [15] proved that the TBPM translation system could achieve high accuracy which satisfied the sorting processes. HUANG et al [19] proved the availability of TBPM translation system in two degrees of freedom (DOF) by using forward kinematics and optimal tension distribution. YANG et al [23] developed many methods of manipulator forward kinematics.…”

Section: Introductionmentioning

confidence: 99%

Modeling and motion control simulation of tendon based parallel manipulator translation mechanism for sensor based high value waste processing

Huang

Pretz

Bian

2011

J. Cent. South Univ. Technol.

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A novel sorting system based on one degree of freedom (DOF) tendon based parallel manipulator (TBPM) for high value waste processing was presented and designed. In order to control the motion of loads, nonlinear state feed forward control algorithm in the tendon length coordinate was used. Considering the system redundancy and actuation behavior, algorithms of optimal tension distribution and forward kinematics were designed. Then, the simulation experiments of motion control were implemented. The results demonstrate that the proposed TBPM translation system performs robust capacities. It can transfer the loads 1 m away within 1.5 s. With further optimization, the translation duration can be further reduced to be about 1 s and the optimized translation is followed with 43.59 m/s 2 maximum acceleration. The translation errors at the aim position remain below 0.4 mm.

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“…Wang, Deng, Zhang, and Meng (2006) analysed Assistant Robotic Leg using the SimMechanics. Furthermore, the work done in Qi, McInroy, and Jafari (2007), Huang, Hiller, and Fang (2007), and Dong, Zhang, and Lu (2005) demonstrates the modelling and simulation of manipulators in macro-world using SimMechanics. In the light of these investigations, a SimMechanics Figure 6 shows the visualization of the SimMechanics model through the 3D Animation viewer.…”

Section: Simulation Modelmentioning

confidence: 99%

Modeling, Simulation and Motion Cues Visualization of a Six-DOF Motion Platform for Micro-Manipulations

Asif

Iqbal

2011

International Journal of Intelligent Mechatronics and Robotics

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This paper examines the problem of realizing a 6-DOF motion platform by proposing a closed loop kinematic architecture that benefits from an anthropological serial manipulator design. In contrast to standard motion platforms based on linear actuators, a mechanism with actuator design inspired from anthropological kinematic structure offers a relatively larger motion envelope and higher dexterity making it a viable motion platform for micromanipulations. The design consists of a motion plate connected through only revolute hinges for the passive joints, and three legs located at the base as the active elements. In this hybrid kinematic structure, each leg is connected to the top (motion) plate through three revolute hinges and to the bottom (fixed) plate through a single revolute joint forming a closed-loop kinematic chain. The paper describes the mathematical modeling of the proposed design and demonstrates its simulation model using SimMechanics and xPC Target for real-time simulations and visualization of the motion cues.

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Simulation Modeling of the Motion Control of a Two Degree of Freedom, Tendon Based, Parallel Manipulator in Operational Space Using MATLAB

Cited by 7 publications

References 4 publications

Forward kinematics analysis and experiment of hybrid high-altitude board installation robot based on screw theory

Forward kinematics analysis and experiment of hybrid high-altitude board installation robot based on screw theory

Modeling and motion control simulation of tendon based parallel manipulator translation mechanism for sensor based high value waste processing

Modeling, Simulation and Motion Cues Visualization of a Six-DOF Motion Platform for Micro-Manipulations

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