Dynamic Coupling Analysis of a Spatial 6-DOF Electro-Hydraulic Parallel Manipulator Using a Modal Decoupling Method

被引:29
|
作者
Yang, Chifu [1 ]
Han, Junwei [1 ]
机构
[1] Harbin Inst Technol, Dept Mech & Elect Engn, Harbin 150006, Heilongjiang, Peoples R China
来源
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷
基金
中国国家自然科学基金;
关键词
Parallel Manipulator; Dynamic Coupling; Modal Analysis; Frequency Response Characteristics; KINEMATIC DESIGN; FAMILY;
D O I
10.5772/55028
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The workspace of a spatial 6-DOF electro-hydraulic parallel manipulator is strongly coupled, due to its multi-closed-loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6-DOF parallel manipulator, using modal decoupling theory and a frequency responses characteristics analysis method. The dynamic model of a spatial 6-DOF electro-hydraulic parallel manipulator is expressed with the Kane method and hydromechanics principles. The modal analysis method is used to establish the map between strong coupling workspace and decoupled modal space and the dynamic coupling relationship and coupling strength between workspaces are exactly revealed. The quantitative evaluation index of dynamic coupling is presented. Moreover, the relationship between dynamic coupling effects and input is discussed through applying frequency characteristics analysis. Experimental results show the workspace of the parallel manipulator is strongly coupled and the coupling property is coincident with theoretical results.
引用
收藏
页数:8
相关论文
共 50 条
  • [31] A FORWARD AND REVERSE DISPLACEMENT ANALYSIS OF A 6-DOF IN-PARALLEL MANIPULATOR
    ALIZADE, RI
    TAGIYEV, NR
    DUFFY, J
    MECHANISM AND MACHINE THEORY, 1994, 29 (01) : 115 - 124
  • [32] Analysis of a novel 6-DOF, 3-PPSP parallel manipulator
    Byun, YK
    Cho, HS
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1997, 16 (06): : 859 - 872
  • [33] Stability analysis of trajectory tracing control of 6-DOF parallel manipulator
    Fang, H
    Zhou, B
    Xu, H
    Feng, ZR
    PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5, 2000, : 1235 - 1239
  • [34] Inverse Kinematics Analysis of a 6-DOF Manipulator Using Spherical Geometry Method
    Liu Q.
    Liu G.
    Fei S.
    Wang H.
    Zhang J.
    Journal of Shanghai Jiaotong University (Science), 2022, 27 (05) : 680 - 687
  • [35] Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot
    Yang, Chifu
    Huang, Qitao
    Han, Junwei
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2012, 28 (01) : 14 - 23
  • [36] Dynamic analysis for single-DOF oscillation of vehicle model in a 6-DOF wire-driven parallel manipulator
    Huang, Qin
    Zheng, Ya-Qing
    Lin, Qi
    Gongcheng Lixue/Engineering Mechanics, 2010, 27 (10): : 230 - 234
  • [37] Dynamic modeling and computational efficiency analysis for a spatial 6-DOF parallel motion system
    Chifu Yang
    Junwei Han
    Shutao Zheng
    O. Ogbobe Peter
    Nonlinear Dynamics, 2012, 67 : 1007 - 1022
  • [38] Dynamic modeling and computational efficiency analysis for a spatial 6-DOF parallel motion system
    Yang, Chifu
    Han, Junwei
    Zheng, Shutao
    Peter, O. Ogbobe
    NONLINEAR DYNAMICS, 2012, 67 (02) : 1007 - 1022
  • [39] Trajectory tracking control of a 6-DOF hydraulic parallel robot manipulator with uncertain load disturbances
    Pi, Yangjun
    Wang, Xuanyin
    CONTROL ENGINEERING PRACTICE, 2011, 19 (02) : 185 - 193
  • [40] Characteristics analysis of dynamic model of a 6-DOF parallel robot manipulator - art. no. 635847
    Guo Hongbo
    Liu Yongguang
    Fu Yongling
    Sensors, Automatic Measurement, Control, and Computer Simulation, Pts 1 and 2, 2006, 6358 : 35847 - 35847