Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer Robot
In order to improve the efficiency and success rate of rescuing the wounded in the complex and catastrophic environment, a novel 4-UPS/PS parallel mechanism with 3R1T is proposed, which can be used in self-balancing system of the transfer robot. The degree of freedom is analyzed by using screw theor...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.018 |
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| _version_ | 1841548822945202176 |
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| author | Chunyan Zhang Maosheng Li Xiangyu Liu Yu Wan |
| author_facet | Chunyan Zhang Maosheng Li Xiangyu Liu Yu Wan |
| author_sort | Chunyan Zhang |
| collection | DOAJ |
| description | In order to improve the efficiency and success rate of rescuing the wounded in the complex and catastrophic environment, a novel 4-UPS/PS parallel mechanism with 3R1T is proposed, which can be used in self-balancing system of the transfer robot. The degree of freedom is analyzed by using screw theory and tested by the modified G-K formula. By utilizing the closed vector, the solution to the inverse kinematics and the relation between the length of each driving rod and the posture of the moving platform are obtained. The expressions of kinetic energy and potential energy of self-balancing compensating mechanism are deduced. The dynamic model of self-balancing compensator is established by Lagrange method. The kinematics and driving force of self-balancing process are simulated and analyzed by Adams simulation software. The experimental results show that the mechanism has excellent motion performance, good drive performance, strong controllability and stability, which is suitable for the rescue and transport robots. |
| format | Article |
| id | doaj-art-4e223f8afdd843e3854672acfe44e9c5 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-4e223f8afdd843e3854672acfe44e9c52025-01-10T13:58:51ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-07-01439810330649671Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer RobotChunyan ZhangMaosheng LiXiangyu LiuYu WanIn order to improve the efficiency and success rate of rescuing the wounded in the complex and catastrophic environment, a novel 4-UPS/PS parallel mechanism with 3R1T is proposed, which can be used in self-balancing system of the transfer robot. The degree of freedom is analyzed by using screw theory and tested by the modified G-K formula. By utilizing the closed vector, the solution to the inverse kinematics and the relation between the length of each driving rod and the posture of the moving platform are obtained. The expressions of kinetic energy and potential energy of self-balancing compensating mechanism are deduced. The dynamic model of self-balancing compensator is established by Lagrange method. The kinematics and driving force of self-balancing process are simulated and analyzed by Adams simulation software. The experimental results show that the mechanism has excellent motion performance, good drive performance, strong controllability and stability, which is suitable for the rescue and transport robots.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.018Wounded-transfer robot with self-balancingKinematics analysisDynamics analysisAdams simulation |
| spellingShingle | Chunyan Zhang Maosheng Li Xiangyu Liu Yu Wan Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer Robot Jixie chuandong Wounded-transfer robot with self-balancing Kinematics analysis Dynamics analysis Adams simulation |
| title | Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer Robot |
| title_full | Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer Robot |
| title_fullStr | Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer Robot |
| title_full_unstemmed | Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer Robot |
| title_short | Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer Robot |
| title_sort | dynamics analysis of self balancing mechanism for wounded transfer robot |
| topic | Wounded-transfer robot with self-balancing Kinematics analysis Dynamics analysis Adams simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.07.018 |
| work_keys_str_mv | AT chunyanzhang dynamicsanalysisofselfbalancingmechanismforwoundedtransferrobot AT maoshengli dynamicsanalysisofselfbalancingmechanismforwoundedtransferrobot AT xiangyuliu dynamicsanalysisofselfbalancingmechanismforwoundedtransferrobot AT yuwan dynamicsanalysisofselfbalancingmechanismforwoundedtransferrobot |