The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, the spatial six-DOF(degree of freedom) parallel manipulator is described as a rigid body, and in many cases, this simplification is adequate for describing the properties of the whole mechanical system, especially with large and heavy motion system. By using Kane approach the explicitly forward dynamic equations with six variables are gained straightly and readily. Under identical conditions,...
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...
In this paper, an analysis of the principle of the shaking table is carried out and a digital servo-valve controller for three-axis six-DOF shaking table based on TMS320F2812 is designed. The result was compared with the analogue controller. AD598 is selected as the modulator-demodulator to condition the displacement signal of the servo-valve main spool.AD7665 is adopted to acquire the conditioned...
A novel model-based controller for six degree of freedom (dof) parallel manipulator-PID controller with gravity compensation is developed, in order to improve the control precision of six-dof hydraulic driven parallel manipulator with long stroke hydraulic actuator and heavy load. In this paper, six-dof parallel manipulator is described as a thirteen rigid-body systems. The mathematical model of gravity...
Compliant force control in space docking is studied. Compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate push and pull process of forcible alignment in space docking. Compliant force control structure based on the inner position loop is introduced. The more systematic design methods of a serial PID type controller and...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.