Papers by Keyword: Kinematic Modelling

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Authors: Nadia Ramona Rat, Mircea Neagoe, Sergiu Dan Stan
Abstract: The paper presents a comparative dynamic modeling and VR (virtual reality) simulation for two 3 DOF medical parallel robots: a three coupled motions structure (Orthoglide robot) versus two coupled motion parallel structure (robot of type 1PRRR+2PRPaR). Kinematical and dynamical models, followed by a VR application with control aspects are presented for these two parallel robots. The innovative user interface for high-level control of the two parallel robots, presented in the paper, was developed in MATLAB - Simulink and SimMechanics environment, while the closed form dynamic models were obtained in MAPLE program. This kind of parallel robots can be successfully applied for medical applications where accuracy and high dynamic behavior are required. This research will lay a good foundation for the development of medical parallel robots.
Authors: De Jun Liu, Hua Qing Liang, Hong Dong Yin, Bu Ren Qian
Abstract: First, the forward kinematic model, the inverse kinematic model and the error model of a kind of coordinate measuring machine (CMM) using 3-DOF parallel-link mechanism are established based on the spatial mechanics theory and the total differential method, and the error model is verified by computer simulation. Then, the influence of structural parameter errors on probe position errors is systematically considered. This research provides an essential theoretical basis for increasing the measuring accuracy of the parallel-link coordinate measuring machine. It is of particular importance to develop the prototype of the new measuring equipment.
Authors: Nadia Cretescu, Mircea Neagoe, Radu Saulescu
Abstract: The robot studied in the paper has a 3DOF parallel structure of type 1PRRR+2PRPaR, with two coupled motions and one decoupled motion, composed by a mobile platform connected to the fixed base by three kinematic chains (one open kinematic chain of Prismatic Revolute Revolute Revolute type and two kinematic chains of Prismatic Revolute Parallelogram Revolute type). An analytical kinematic modelling of the parallel robot of type 1PRRR+2PRPaR is firstly presented in this paper, followed by a numerical simulation of the closed-form kinematic model and by a Virtual Reality (VR) application with control aspects. An innovative user interface for high-level control of the parallel 1PRRR+2PRPaR type robot is developed in MATLAB - Simulink and SimMechanics environment.
Authors: Radu Saulescu, Codruta Jaliu, Olimpiu Munteanu, Oliver Climescu
Abstract: A specific problem of the wind turbines refers to the difference between the low rotation speed of the wind turbine rotor and the high rotation speed needed for the electrical generator. Usually, the adaptation between the speed of the turbine rotor and the electrical generator speed is achieved by means of a speed increaser. A recent alternative relates to the use of coaxial counter-rotating wind turbines, which can achieve higher power and improve the conversion efficiency of the wind energy into electrical energy (up to 25%) with a reduced cost of approx. 20-30% compared to similar single rotor turbines. Conceptually, the counter-rotating wind turbine systems can integrate a particular generator wherein the rotor is coupled to a row of blades and the stator with another row of blades, or a commonly generator, coupled to a differential planetary gear, that allows the summation of the blades motions.The paper describes and analyzes kinematic and dynamic aspects of a system consisting of two coaxial counter-rotating turbines and a generator, interconnected by a planetary gear with two inputs (the two turbines) and an output (the generator). The algorithm is based on the property of the differential planetary gear of adding two input motions into one output motion. The kinematic and dynamic parameters of the planetary gear are established in the paper, and a case study is further presented: a small wind turbine equipped with a transmission enabling input speed multiplication.
Authors: Miklos Kis-Varga, A. Dudás, G.A. Langer, Dezső L. Beke, Gy. Kerekes, Lajos Daróczi
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