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This paper describes a 6-DOF industrial robot capable of picking up die-casting products. The link coordinate system of the 6-DOF robot is established based on the D-H parameter method and the forward and inverse kinematics are discussed. ADAMS is utilized to establish a virtual prototyping and the kinematic simulation is carried out. The results show that the validity of the kinematic equations is...
The 6-DOF spindle-coupled road simulators are complicated serioparallel mechanisms. In this paper, the constraint equations about the length of major components are established based on the constrained relationships of different space vectors. Under the premise that the structural parameters and movement rule of the test rig are given, the position and the velocity of the simulator are analyzed. The...
Driving simulators are largely employed in automotive industry, government, military and academic research fields. This paper provides an overview of the development of a kind of special amphibious vehicle driving simulator. A modularization structure was developed according to the structure character, maintainability and fixing space requirement which provide a kind of convenient methods to replace...
This paper readdressed the dynamics for spatial 6-DOF parallel robots (PR). With a view of improving the computational efficiency of dynamic equations and simplifying the modeling of PR, PR is regarded as seven rigid bodies, ignoring the complex dynamics of cylinder, and the dynamic equations are derived by using Kane method. The relationship of components of PR is described with geometric algorithms...
This paper addressed the dynamics and control for completely spatial 6-DOF parallel robots (SPR) in computer. The complex dynamic equations are derived via using Kane methods, and a typical PID controller is developed for spatial 6-DOF parallel robots. Making use of the software of Simulink, the computer model of SPR is built in terms of the dynamic equations of SPR, and the simulation is realized...
The modeling and study of three-stage electro-hydraulic servo valve are presented in this paper. According to its construction and principle, its model is built. The results of simulation and experimental test are consistent, which proves the validity of the model. Based on the study of the model, the performances of three-stage electro-hydraulic servo valve are mainly affected by pilot valve performance,...
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