Dynamic Modeling of Parallel Mechanism Based on Particle System

Author(s): 
W. Liu†*, L. Y. Zhu†, B. B. Jin†, & M. Helali‡

Affiliation(s): 
†School of Automotive Engineering, Yancheng Institute of Technology, Yancheng, 224051, China
‡Address correspondence to this author at Xiwang Road, Yancheng, China. Postcard: 224051; 

Cite this paper
W. Liu†*, L. Y. Zhu†,  B. B. Jin†, & M. Helali‡, “Dynamic Modeling of Parallel Mechanism Based on Particle System”, Journal of Mechanical Engineering Research and Developments, vol. 39, no. 2, pp. 483-491, 2016. DOI: 10.7508/jmerd.2016.02.027

ABSTRACT: As the traditional Lagrange method considers the connecting rod of the parallel mechanism as a particle, the accuracy of dynamic model tends to be low. In this study, a new dynamic modeling method based on particle system is presented for a six-pyramid parallel mechanism. The kinetic energy and the potential energy of the platform are calculated in terms of energy, and the inertia matrix is obtained. On the premise of fast calculation speed, the connecting rod is considered as a particle system. The kinetic energy and the potential energy of the connecting rod are calculated, and then the dynamic model of the six-pyramid parallel mechanism is established. To verify the correctness of the mathematical model, the prototype and its control system are developed based on dSPACE real-time simulation system. The comparative experiments are done according to a six-dimension trajectory task, and the force variation of the actuators calculated with the traditional Lagrange method and that calculated with the method based on particle system are compared with the actual variation. The results show that the dynamic model using the particle method can reduce errors by up to 60% than that using the traditional method. This research has laid the foundation for further application of parallel mechanisms in the mechanical industry.

Keywords : Parallel mechanism; Dynamics; Particle system; Prototype.

References

[1] Thomas F, Ros L. “Revisiting trilateration for robot localization”. IEEE Transactions on robotics, vol. 21, pp. 93-9,  January 2005.
[2] Han Fangyuan, Zhao Dingxuan, Li Tianyu. “A fast forward algorithm for 3-RPS parallel mechanism”. Transactions of the Chinese society for agricultural machinery, vol. 42, pp. 229-5, April 2011.
[3] Stone M, Benneweis R, Van J. “Evolution of electronics for mobile agricultural equipment”. Transactions of the ASABE, vol. 51, pp. 385-6, March 2008.
[4] Vadakkepat P, Miin O, Peng X, et al. “Fuzzy behavior based control of mobile robots”. IEEE Trans. fuzzy syst. vol. 12, pp. 559-7, May 2004.
[5] Sun Xiaoyong, Xie Zhijiang, Jian Kailin, et al. “Dynamics analysis and simulation of 6-PSS flexible parallel robot”. Transactions of the Chinese society for agricultural machinery, vol. 43, pp. 194-12, July 2012.
[6] Jia Xiaohui, Liu Jinyue, Tian Yanling. “Dynamics analysis of spatial compliant parallel mechanism”. Transactions of the Chinese society for agricultural machinery, vol. 43, pp. 210-5, July 2012.
[7] Tang Guoming, Mei Tao. “Dynamic modeling of a three degrees of freedom parallel manipulator for motion simulation of unmanned vehicle”. Journal of mechanical engineering, vol. 47, pp. 74-8, October 2011.
[8] Feng Zhiyou, Zhang Yan, Yang Tingli, et al. “Inverse dynamics of a 2UPS-2RPS parallel mechanism by Newton-Euler formulation”. Transactions of the Chinese society for agricultural machinery, vol. 40, pp. 193-5, October 2009.
[9] Zheng Yixiong, Wang Yuhan, Shi Jing, “Kinematics and dynamics analysis of overload parallel mechanism for forward feedback control of driving force”, Machinery Design & Manufacture, vol. 1, pp. 176-3, January 2012.
[10] Wang Liling, Wang Hongrui, Xiao Jinzhuang, et al, “Stable adaptive controller for stabilized platform with parallel-series structure”, Journal of Central South University (Science and Technology), vol. 44, pp. 115-4, July 2013.
[11] Chen Bin, Zong Guanghua, Yu Jingjun, et al. “Dynamic Modeling and Analysis of 2-DOF Quasi-sphere Parallel Platform”, Journal of Mechanical Engineering vol. 49, pp. 24-8, July 2013.
[12] Gao Zheng, Xiao Jinzhuang, Wanghongrui, et al. “Dynamics Analysis on a 3-DOF Rotational Platform with Serial-Parallel Structure”, China Mechanical Engineering, vol. 23, pp. 18-5, January 2012.
[13] Liu Wei, Chang Siqin. “Drive optimization of parallel robot under redundant tasks based on genetic algorithm”, Transactions of the Chinese society for agricultural machinery, vol. 43, pp. 221-4, April 2012.