Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...

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Platform Position (mm) Platform Orientation (deg) 2000 1500 1000 500 0 -500 80 70 60 50 40 30 20 10 0 X Position Y Position Z Position 0 6 12 18 24 30 36 42 48 54 60 66 72 78 84 90 Input Actuator Angle (deg) Figure 4.4 - Platform position for manipulator actuated by a single rotary actuator Yaw Pitch Roll 0 6 12 18 24 30 36 42 48 54 60 66 72 78 84 90 Input Actuator Angle Figure 4.5 - Platform orientation for manipulator actuated by a single rotary actuator 44
4.2.2 Results for the Actuation of the First Two Rotary Actuators The first two rotary actuators corresponds to Input( α ) and Input( α ) in figure 4.1. Figures 4.6, 4.7 and 4.8 shows the graphs of the results. For figure 4.6, Eavg = 1.42, %Eavg = 0.91. The maximum error occurs at near singularity configuration, %Emax = 3.92. Platform Centroid Distance (mm) 1800 1600 1400 1200 1000 800 600 400 200 0 Numerical Integration Optimization 1 13 3 13 1 α 13 =90º, Emax = 58.74, 0 6 12 18 24 30 36 42 48 54 60 66 72 78 84 90 Input Actuator Angles (deg) Figure 4.6 - Comparison of results for two actuated rotary actuators 45
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Kinematic and Dynamic Analysis of S
Page 3 and 4: Research is what I'm doing when I d
Page 5 and 6: ÖZ Bu tez yeni bir tip uzaysal alt
Page 7 and 8: Chapter 4 KINEMATIC ANALYSIS ......
Page 9 and 10: Figure 4.15 - Comparison of results
Page 11 and 12: Chapter 1 INTRODUCTION The introduc
Page 13 and 14: Figure 1.4 - The first flight simul
Page 15 and 16: Generally, the actuators of a seria
Page 17 and 18: −1 where J = J q J x . . . q = J
Page 19 and 20: Chapter 2 SCREW KINEMATICS In this
Page 21 and 22: From equation (2.6) we have; or x z
Page 23 and 24: Using (2.7) and (2.12), one can fin
Page 25 and 26: LP + MQ + NR = 0 L 1 2 2 + M 2 1 LP
Page 27 and 28: Following Crammer’s method, the u
Page 29 and 30: That’s, the variable angle α ki
Page 31 and 32: ~ ~ ~ ~ ~ ~ Let Ei ( Li , M i, Ni )
Page 33 and 34: Qk = (NiPj + LjRi - LiRj - NjPi - a
Page 35 and 36: The methods reported by F. Freudens
Page 37 and 38: Using equations (3.4) and (3.6), we
Page 39 and 40: Order of a structural group is the
Page 41 and 42: 3.3 Geometrical Structural Synthesi
Page 43 and 44: 3.4 Kinematic Structural Synthesis
Page 45 and 46: Let’s consider a 5 DOF parallel m
Page 47 and 48: Chapter 4 KINEMATIC ANALYSIS Kinema
Page 49 and 50: Figure 4.1 - The six degree of free
Page 51 and 52: v v v P4 = yv N 4 − zv M 4 v v v
Page 53: The best way of visualizing the dis
Page 57 and 58: 4.2.3 Results for the Actuation of
Page 63 and 64: Figure 4.17 - Corresponding piston
Page 65 and 66: Chapter 5 DYNAMIC ANALYSIS Dynamics
Page 67 and 68: Thus, according to Lagrange, the re
Page 69 and 70: J is the 6x6 Jacobian matrix that
Page 71 and 72: Chapter 6 DISCUSSION AND CONCLUSION
Page 73 and 74: REFERENCES [1] D. Stewart, A platfo
Page 75 and 76: [19] Seung-Bok Choi, Dong-Won Park,
Page 77 and 78: [38] Kotelnikov A. P., Screw calcul
Page 79 and 80: [60] R. I. Alizade, Investigation o
Page 81 and 82: A.1.1 CASSoM Source Code Like all v
Page 83 and 84: in the 'Input Parameters' section.
Page 85 and 86: pty:=roy+dy; ptz:=roz+dz; end; func
Page 87 and 88: Figure A.2 - a Screenshot of iMIDAS
Page 89 and 90: APPENDIX B RECURSIVE SYMBOLIC CALCU
Page 91 and 92: PP := L1 ← 0 M1 ← 0 N1 ← 1 L2
Page 93 and 94: Preleminary function definitions In
Page 95 and 96: C.2 Visual NASTRAN Desktop NASTRAN
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