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

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A.1 CASSoM APPENDIX A DOCUMENTATIONS OF DEVELOPED SOFTWARES CASSoM stands for Computer Aided Structural Synthesis of Manipulators. It is mainly a calculation tool for the first step of structural synthesis in parallel manipulators. Using CASSoM, it is possible to find the values of C (platform connections), bv (vacant branches), jb (# joints in a branch) and B (total number of branches) of a parallel manipulator. The required inputs are λ (DOF of workspace), W (DOF of mechanism), number and types of platforms to be used. The program uses the formulations and algorithm presented in chapter 3. A screenshot is given in figure A.1. The program in its current state is fully functional. CASSoM is a SDI (single document interface) style program. The programming language used is Borland Delphi 6.0. Delphi is a visual programming language based on Pascal. Figure A.1 – a Screenshot of CASSoM 70
A.1.1 CASSoM Source Code Like all visual programming languages, Delphi creates very long codes. Due to this, only the engine of CASSoM is presented here. procedure TSynInpForm.DoSynthesis; var code : integer; Cc : real; J,Jb,JbExtra,P,Lambda,B,Bv,C,Np:integer; ResultMessage : string; begin Lambda := UpDownLambda.Position; P := UpDownN.Position; Bv := UpDownW.Position; Np := UpDownTri.Position * 3 + UpDownQuad.Position * 4 + UpDownPenta.Position * 5 + UpDownHexa.Position * 6; If 3*P>Np then begin showmessage('Invalid platform specification! (Condition 1)'); exit; end; If Np > Lambda*P then begin showmessage('Invalid platform specification! (Condition 1)'); exit; end; Cc := 0.5*(Np - Bv); If Cc - trunc (Cc) 0 then begin showmessage('Invalid platform specification! (Condition 7)'); exit; end; C := Trunc (Cc); {# of connections between basic(plat.) links} B := Np - C; {# of branches} J := Lambda * (Np - C - P); {total # of pairs} Jb := J div B; {number of pairs in a branch} JbExtra := J - Jb * B; {total additional # of pairs to be put on} ResultMessage := 'J='+strs(J)+ ' | B= '+strs(B)+ ' | Jb='+strs(Jb)+ ' | Jb Add.='+strs(JbExtra)+ ' | C='+strs(C); Label9.Caption :=ResultMessage; end; function TSynInpForm.Strs(I: Longint): string; { Convert any integer type to a string } var S: string[11]; begin Str(I, S); Result:= S; end; 71
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Kinematic and Dynamic Analysis of S
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Research is what I'm doing when I d
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ÖZ Bu tez yeni bir tip uzaysal alt
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Chapter 4 KINEMATIC ANALYSIS ......
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Figure 4.15 - Comparison of results
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Chapter 1 INTRODUCTION The introduc
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Figure 1.4 - The first flight simul
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Generally, the actuators of a seria
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−1 where J = J q J x . . . q = J
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Chapter 2 SCREW KINEMATICS In this
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From equation (2.6) we have; or x z
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Using (2.7) and (2.12), one can fin
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LP + MQ + NR = 0 L 1 2 2 + M 2 1 LP
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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 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: [60] R. I. Alizade, Investigation o
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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Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...

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