• Scopus
  • Chinese Science Citation Database (CSCD)
  • A Guide to the Core Journal of China
  • CSTPCD
  • F5000 Frontrunner
  • RCCSE
Advanced search
HUANG He-shan, LI Ting, LIU Jin-hao. Dynamic modeling and simulation analysis of 6-HUS parallel moving platform[J]. Journal of Beijing Forestry University, 2015, 37(4): 143-150. DOI: DOI:10.13332/j.1000-1522.20140349
Citation: HUANG He-shan, LI Ting, LIU Jin-hao. Dynamic modeling and simulation analysis of 6-HUS parallel moving platform[J]. Journal of Beijing Forestry University, 2015, 37(4): 143-150. DOI: DOI:10.13332/j.1000-1522.20140349
shu

Dynamic modeling and simulation analysis of 6-HUS parallel moving platform

  • School of Technology, Beijing Forestry University, Beijing, 100083, P. R. China

More Information
  • Received Date: September 21, 2014
  • Revised Date: November 02, 2014
  • Published Date: April 29, 2015
    Graphical Abstract
    • Abstract
  • As it is difficult for the serial mechanism to achieve the trajectory of complex spatial curved surface, we propose a 6-HUS parallel moving platform which can operate along the space curve and curved surface. The dynamics of the parallel moving platform was analyzed and the dynamic model was built by Lagrange method based on the foundation of kinetic analysis. Combined with the given examples, the driving force curve of each drive rod was obtained through solving dynamic model by Matlab. Then the dynamic simulation with virtual prototype of the parallel moving platform was carried out by Adams, and driving force curves by the virtual simulation were consistent with those by the numerical simulation. It was verified that the dynamic model built by Lagrange method was feasible with properly simplified model of the parallel moving platform, and this provides theoretical references for subsequent research of dynamic optimization and control system design.
    • FullText(HTML)
    • References (24)
  • [1]
    鲍伟东.当代林业机械发展及应用[J].农林科技,2013(3):303.
    [1]
    BAO W D. Development and application of contemporary forestry machinery [J]. Agriculture and Forestry, 2013(3): 303.
    [2]
    TSAI M S, YUAN W H. Dynamic modeling and decentralized control of a 3 RPS parallel mechanism based on constrained robotic analysis[J]. Journal of Intelligent Robotic Systems,2011, 63(3-4):525-545.
    [2]
    LI K Q, WEN R, KANG Y. Kinematic and dynamic analysis of 6-RSS parallel mechanism [J]. Science Technology and Engineering, 2011, 11(6):1213-1217.
    [3]
    ZHAO H F, JIAN K L. Dynamic computation of 6-DOF parallel mechanism based on KANE method [J]. Chinese Journal of Computational Mechanics, 2011, 28(Suppl.1):165-169.
    [3]
    李坤全,文睿,康琰.6-RSS并联机构的运动学、动力学分析[J].科学技术与工程,2011,11(6):1213-1217.
    [4]
    SONG X K, YANG X J. Dynamics analysis of a 4PUS-1RPU parallel manipulator by the principle of virtual work [J]. Modular Machine Tool Automatic Manufacturing Technique, 2012(6):25-30.
    [4]
    赵海峰, 蹇开林.基于KANE方法的并联六自由度机构的动力学计算[J].计算力学学报,2011,28(增刊1):165-169.
    [5]
    宋小科,杨晓钧.基于虚功原理的4PUS-1RPU并联机构动力学分析[J].组合机床与自动化加工技术,2012(6):25-30.
    [5]
    LIU X, ZHAO T S, BIAN H, et al. Dynamics analysis of a 3-DOF coupling parallel mechanism for stabilized platform [J]. Journal of Mechanical Engineering, 2013, 49(1):45-52.
    [6]
    GAO M W, ZHANG X M. Optimum of driving force for 4-RRR redundant parallel robot [J]. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45(1):301-305.
    [6]
    STAICU S. Dynamics of the spherical 3-UPS/S parallel mechanism with prismatic actuators [J].Multibody Syst Dyn, 2009, 22: 115-132.
    [7]
    LI L Y. Research on some key theoretical issues of 6-SPS parallel kinematic machines [D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2007.
    [7]
    刘晓,赵铁石,边辉,等.耦合型3自由度并联稳定平台机构动力学分析[J].机械工程学报,2013,49(1):45-52.
    [8]
    CHEN G L, WANG H, LAI X M, et al. Forward dynamics analysis of spatial parallel mechanisms based on the Newton-Euler method with generalized coordinates [J]. Journal of Mechanical Engineering, 2009, 45(7):41-48.
    [8]
    高名旺,张宪民. 4-RRR冗余并联机器人驱动力优化[J].农业机械学报,2014,45(1):301-305.
    [9]
    SANGVERAPHUNSIRI V, CHOOPRASIRDK. Dynamics and control of a 5-DOF manipulator based on an H-4 parallel mechanism [J]. International Journal of Advanced Manufacturing Technology, 2011, 52:343-364.
    [9]
    LI C. Analysis and investigation on dynamic characteristics of 6PUS-UPS parallel mechanism tool [D]. Qinghuangdao: Yanshan University, 2011.
    [10]
    SUN X Y, XIE Z J, JIAN K L. Dynamics analysis and simulation of 6-PSS flexible parallel robot [J]. Transactions of the Chinese Society for Agricultural Machinery, 2012, 43(7):194-199.
    [10]
    李鹭扬. 6-SPS 型并联机床若干关键理论研究[D].南京:南京航空航天大学,2007.
    [11]
    陈根良,王皓,来新民,等.基于广义坐标形式牛顿-欧拉法的空间并联机构动力学正问题分析[J].机械工程学报,2009,45(7):41-48.
    [12]
    FU S W, YAO Y. Robust control for a stewart platform with control plant's simplification by lagrange and Newton-Euler methods[C]//International Conference on Mechanical Engineering and Mechanics. Nanjing:ICMEM, 2005:531-536.
    [13]
    李聪.6PUS-UPS并联运动机床动力学性能分析与研究[D].秦皇岛:燕山大学,2011.
    [14]
    孙小勇,谢志江,蹇开林.6-PSS柔性并联机器人动力学分析与仿真[J].农业机械学报,2012,43(7):194-199.
    • Related Articles

  • Related Articles

    [1]Zhang Jianting, Liu Jinhao, Huang Qingqing, Sui Tingting. Design and simulation of woodland chassis imitating goat gait[J]. Journal of Beijing Forestry University, 2021, 43(6): 152-162. DOI: 10.12171/j.1000-1522.20210086
    [2]Yu Yongchao, Kang Feng, Zheng Yongjun, Lü Haotun, Wang Yaxiong. Design and simulation of the automatic-leveling high-position platform in orchards[J]. Journal of Beijing Forestry University, 2021, 43(2): 150-159. DOI: 10.12171/j.1000-1522.20200398
    [3]Li Xiang, Wang Yaming, Meng Chen, Li Jiao, Niu Jianzhi. A dynamic crown interception model based on simulated rainfall experiments of small trees[J]. Journal of Beijing Forestry University, 2018, 40(4): 43-50. DOI: 10.13332/j.1000-1522.20170348
    [4]SUI Ting-ting, LIU Jin-hao, TANG Wei-guo. Kinematics solution and trajectory planning of stepping transverse slotting mechanism[J]. Journal of Beijing Forestry University, 2017, 39(10): 109-116. DOI: 10.13332/j.1000-1522.20170213
    [5]CHENG Yue, LIN Min, YANG Gang, HUANG Xin-yuan. Forest dynamic succession simulation based on individual plant growth model[J]. Journal of Beijing Forestry University, 2017, 39(6): 96-106. DOI: 10.13332/j.1000-1522.20170016
    [6]HAN Dong-tao, LIU Jin-hao.. Obstacle-surmounting ability of harvester based on working boom.[J]. Journal of Beijing Forestry University, 2016, 38(7): 105-111. DOI: 10.13332/j.1000-1522.20150367
    [7]ZHU Yue, KAN Jiang-ming. The design of forestry chassis with articulated body of three degrees of freedom and analysis of its obstacle surpassing ability[J]. Journal of Beijing Forestry University, 2016, 38(5): 126-132. DOI: 10.13332/j.1000-1522.20150304
    [8]YU Yang, YU Guo-sheng, DE Xue-hong, YUAN Da-long, CHEN Zhong-jia. Trajectory simulation of the internal cylinder meshing forming device based on ADAMS method[J]. Journal of Beijing Forestry University, 2014, 36(4): 147-151. DOI: 10.13332/j.cnki.jbfu.2014.04.003
    [9]WANG Fei-xin, WANG Zhao-yin. A preliminary study on nonlinear vegetation-erosion dynamics model[J]. Journal of Beijing Forestry University, 2007, 29(6): 123-128. DOI: 10.13332/j.1000-1522.2007.06.001
    [10]WANG Hang-jun, FANG Lu-ming, YU Li-fei, CHEN Pei-jin. GIS based construction of ecological simulation system of degraded karst forests in the process of natural restoration[J]. Journal of Beijing Forestry University, 2007, 29(2): 152-155.

  • Cited by

    Periodical cited type(2)

    1. 魏碧辉，陈纯，张昌明，徐永帅，徐慧茹，王佳伟. 一种新型并联驱动双向移动平台的动力学及精度分析. 机床与液压. 2021(05): 88-93 .
    2. 薛国芳. 基于3D打印技术的并联机器人机构的动力学研究. 机床与液压. 2017(03): 19-23 .

    Other cited types(7)

Catalog

    Get Citation
    PDF
    XML
    Article views (2112) PDF downloads (43) Cited by(9)
    Turn off MathJax
    Article Contents
    Abstract
    References
    Related Articles

    Copyright © 2013 《北京林业大学学报》编辑部

    Address：North-Star Times Tower, No.8 Beichendong Road, Chaoyang District, Beijing, China China Pos：100083

    Tel：010-62337673 Email：bldxed@bjfu.edu.cn 京ICP备05066833号-1

    Supported by: Beijing Renhe Information Technology Co., Ltd.  Baidu Analytics

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return