Dynamics Analysis and Sliding Mode Control of 3-CP<sub>a</sub>RR Parallel Mechanism
To establish a rigid dynamics model of a 3 degree-of-freedom decoupled parallel mechanism（a 3-CP<sub>a</sub>RR decoupled parallel mechanism） and sliding mode controller,the structure component of the mechanism is described and the kinematics is revealed by analyzing the kinematics constr...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.015 |
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| _version_ | 1841547419108507648 |
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| author | Zhu Jingyuan Wang Jian Ding Zehua Zhou Rui Liu Junchen Cao Yi |
| author_facet | Zhu Jingyuan Wang Jian Ding Zehua Zhou Rui Liu Junchen Cao Yi |
| author_sort | Zhu Jingyuan |
| collection | DOAJ |
| description | To establish a rigid dynamics model of a 3 degree-of-freedom decoupled parallel mechanism（a 3-CP<sub>a</sub>RR decoupled parallel mechanism） and sliding mode controller,the structure component of the mechanism is described and the kinematics is revealed by analyzing the kinematics constraints. The analysis of kinematics constraint shows that the translational displacement of the mechanism is completely decoupled in the three orthogonal directions,and the rotation joints of the limb distal link are the negative kinematics pairs.According to the result of analysis,the dynamics model of the 3-CP<sub>a</sub>RR decoupled parallel mechanism is established by using the Lagrange equation. Meanwhile,a controller is designed by means of the sliding mode surface,and the system stability is analyzed via Lyapunov function. Finally,the linear velocity and driving force are analyzed through a numerical example. The validity of theoretical analysis and numerical example are demonstrated by the virtual simulation results in ADAMS. At the same time,the validity and stability of the sliding mode controller are also demonstrated. The research provides a theoretic foundation for research on the prototype manufacturing and real-time control system. |
| format | Article |
| id | doaj-art-7419c30468c94b989b467d9bbbfd49da |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7419c30468c94b989b467d9bbbfd49da2025-01-10T14:41:55ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142687529937120Dynamics Analysis and Sliding Mode Control of 3-CP<sub>a</sub>RR Parallel MechanismZhu JingyuanWang JianDing ZehuaZhou RuiLiu JunchenCao YiTo establish a rigid dynamics model of a 3 degree-of-freedom decoupled parallel mechanism（a 3-CP<sub>a</sub>RR decoupled parallel mechanism） and sliding mode controller,the structure component of the mechanism is described and the kinematics is revealed by analyzing the kinematics constraints. The analysis of kinematics constraint shows that the translational displacement of the mechanism is completely decoupled in the three orthogonal directions,and the rotation joints of the limb distal link are the negative kinematics pairs.According to the result of analysis,the dynamics model of the 3-CP<sub>a</sub>RR decoupled parallel mechanism is established by using the Lagrange equation. Meanwhile,a controller is designed by means of the sliding mode surface,and the system stability is analyzed via Lyapunov function. Finally,the linear velocity and driving force are analyzed through a numerical example. The validity of theoretical analysis and numerical example are demonstrated by the virtual simulation results in ADAMS. At the same time,the validity and stability of the sliding mode controller are also demonstrated. The research provides a theoretic foundation for research on the prototype manufacturing and real-time control system.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.015Decoupled parallel mechanismKinematicsDynamicsSliding mode controlSimulation analysis |
| spellingShingle | Zhu Jingyuan Wang Jian Ding Zehua Zhou Rui Liu Junchen Cao Yi Dynamics Analysis and Sliding Mode Control of 3-CP<sub>a</sub>RR Parallel Mechanism Jixie chuandong Decoupled parallel mechanism Kinematics Dynamics Sliding mode control Simulation analysis |
| title | Dynamics Analysis and Sliding Mode Control of 3-CP<sub>a</sub>RR Parallel Mechanism |
| title_full | Dynamics Analysis and Sliding Mode Control of 3-CP<sub>a</sub>RR Parallel Mechanism |
| title_fullStr | Dynamics Analysis and Sliding Mode Control of 3-CP<sub>a</sub>RR Parallel Mechanism |
| title_full_unstemmed | Dynamics Analysis and Sliding Mode Control of 3-CP<sub>a</sub>RR Parallel Mechanism |
| title_short | Dynamics Analysis and Sliding Mode Control of 3-CP<sub>a</sub>RR Parallel Mechanism |
| title_sort | dynamics analysis and sliding mode control of 3 cp sub a sub rr parallel mechanism |
| topic | Decoupled parallel mechanism Kinematics Dynamics Sliding mode control Simulation analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.015 |
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