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

More documents

Recommendations

Info

Platform Position (mm) Platform Orientation (deg) 1000 900 800 700 600 500 400 300 200 100 30 20 10 0 -10 -20 -30 -40 0 X Position Y Position Z Position 0 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Input Actuator Displacement (mm) Figure 4.10 - Platform position for manipulator actuated by a single linear actuator Yaw Pitch Roll 0 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Input Actuator Displacement (mm) Figure 4.11 - Platform orientation for manipulator actuated by a single linear actuator 48
4.2.4 Results for the Actuation of the First Two Linear Actuators The first two linear actuators correspond to Input( a ) and Input( a ) in figure 4.1. Figures 4.12, 4.13 and 4.14 shows the graphs of the results. For figure 4.12, Eavg = 0.91, %Eavg = 0.18. Platform Centroid Distance (mm) 1500 1400 1300 1200 1100 1000 900 800 700 600 500 400 300 200 100 0 Optimization Numerical Integration 0 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 2 35 Input Actuator Displacement (mm) Figure 4.12 - Comparison of results for two actuated linear actuators 4 35 49
Page 1 and 2:
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 and 54: The best way of visualizing the dis
Page 55 and 56: 4.2.2 Results for the Actuation of
Page 57: 4.2.3 Results for the Actuation of
Page 61 and 62: 4.2.5 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
show all

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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?