Slides for my Master's Thesis

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    11-Apr-2017

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<p>Modeling and Dynamics of a Planar Parallel Manipulator Using Discrete Time Transfer Matrix Method</p> <p>Modeling and Dynamics of Planar Serial/Parallel Manipulators Using Finite Segment Transfer Matrix MethodHaijie LiSupervisor: Prof. Xuping Zhang</p> <p>OUTLINE Concepts of Finite Segment TMM Parallel Manipulator Systems</p> <p> Serial Manipulator Systems</p> <p> Concepts of Finite Segment TMM</p> <p>Equivalent Stiffness:</p> <p>Equivalent Stiffness (simplified):</p> <p>State vector:Transfer equation: Concepts of Finite Segment TMMLinearization:</p> <p>Solution Procedure</p> <p>Decompose a system into separate componentsDefine the state vectors and transfer matrix for each elementObtain the overall transfer equation for the systemApply boundary conditions and solve the overall equationCompute the state vector for each elementRepeat</p> <p>Transfer Matrices for ComponentsRigid bodyRigid bodySmooth pin hingeMotorTorsion springLinear spring</p> <p>Serial Manipulator Systems</p> <p>Serial Manipulator Systems</p> <p>State vectors:Transfer equations:</p> <p>Single Link Manipulator</p> <p>Single Link Manipulator(Uniform)State vectors:</p> <p>Transfer equations:</p> <p>Single Link Manipulator(Uniform)</p> <p>Single Link Manipulator(Non-uniform)State vectors:</p> <p>Transfer equations:</p> <p>Single Link Manipulator(Non-uniform)</p> <p>Single Link Manipulator</p> <p>Multi-link Manipulator with Flexible JointsState vectors:</p> <p>Transfer equations:</p> <p>Multi-link Manipulator with Flexible Joints</p> <p>Multi-link Manipulator with Flexible Joints</p> <p>Multi-link Manipulator with Flexible Joints</p> <p>Easily to model a complex chain system with joint and link flexibility Finite Segment-TMMNo need of the boundary conditions for each intermediate linkNo need of the floating frame</p> <p>Larger end-effector position errorJoint flexibility play significant role in dynamic behaviour Simulation resultsLower system stiffness System natural frequencies change dramatically with configurations </p> <p> Modeling of a 3-PRR Parallel Manipulator</p> <p>Transfer equations:State vectors:</p> <p> Modeling of a 3-PRR Parallel Manipulator</p> <p> Modeling of a 3-PRR Parallel Manipulator</p> <p> Modeling of a 3-PRR Parallel Manipulator</p> <p> Modeling of a 3-PRR Parallel Manipulator</p> <p> Modeling of a 3-PRR Parallel Manipulator</p> <p> Modeling of a 3-PRR Parallel Manipulator</p> <p>Position error at the tip end of linksDeformations at the midpoint of linksPosition error and angle error of the platformActuated forces of slidersElastic motions of intermediate links have significant influences on actuated forces of slidersThe intermediate links show pinned-pinned vibration characteristics Modeling of a 3-PRR Parallel Manipulator</p> <p>ConclusionsNo need of the boundary conditions for intermediate elementsNo need of the floating framesManipulator with non-uniform links</p> <p>Easy to describe a system by assembling corresponding transfer matricesHigh computational efficiency(system matrices keep low orders, pre-defined elements)Finite Segment TMM</p> <p>Thanks for your time!</p>