A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is ...A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning.Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms.This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.展开更多
In this research,mechanical stress,static strain and deformation analyses of a cylindrical pressure vessel subjected to mechanical loads are presented.The kinematic relations are developed based on higherorder sinusoi...In this research,mechanical stress,static strain and deformation analyses of a cylindrical pressure vessel subjected to mechanical loads are presented.The kinematic relations are developed based on higherorder sinusoidal shear deformation theory.Thickness stretching formulation is accounted for more accurate analysis.The total transverse deflection is divided into bending,shear and thickness stretching parts in which the third term is responsible for change of deflection along the thickness direction.The axisymmetric formulations are derived through principle of virtual work.A parametric study is presented to investigate variation of stress and strain components along the thickness and longitudinal directions.To explore effect of thickness stretching model on the static results,a comparison between the present results with the available results of literature is presented.As an important output,effect of micro-scale parameter is studied on the static stress and strain distribution.展开更多
基金Supported by National Natural Science Foundation of China (No. 50375106) andKey Laboratory of Intelligent Manufacturing at Shantou University Grant (No. Imstu-2002-11).
文摘A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning.Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms.This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.
文摘In this research,mechanical stress,static strain and deformation analyses of a cylindrical pressure vessel subjected to mechanical loads are presented.The kinematic relations are developed based on higherorder sinusoidal shear deformation theory.Thickness stretching formulation is accounted for more accurate analysis.The total transverse deflection is divided into bending,shear and thickness stretching parts in which the third term is responsible for change of deflection along the thickness direction.The axisymmetric formulations are derived through principle of virtual work.A parametric study is presented to investigate variation of stress and strain components along the thickness and longitudinal directions.To explore effect of thickness stretching model on the static results,a comparison between the present results with the available results of literature is presented.As an important output,effect of micro-scale parameter is studied on the static stress and strain distribution.
