Науковий вісник НГУ

Defining the dynamic accuracy of positioning of spatial drive systems through consistent analysis of processes of different range of performance

• 
• 

User Rating:  / 0

PoorBest 

Details

Category: Geotechnical and mining mechanical engineering, machine building

Last Updated on 17 July 2018

Published on 03 July 2018

Hits: 4745

Authors:

S. V. Strutynskyi, Cand. Sc. (Tech.), orcid.org/0000-0001-9739-0399, The National technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”, Kyiv, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

Abstract:

Purpose. Complex study of the dynamic processes of positioning of spatial systems with defining their characteristic parameters and developing recommendations on increasing the dynamic accuracy of the system positioning.

Methodology. Theoretical methods for determining the parameters of the positioning processes in the spatial system on the basis of the proposed approach which consists in separating the general process into a number of components with different range of performance. Experimental research methods using high-precision equipment are applied to confirm the reliability of the results of theoretical studies.

Findings. A new approach to the determination of the parameters of the positioning processes of spatial drive systems which explains the possibility of separating the positioning process into components of different ranges and allows determining the parameters of individual components of the process is developed. Processes of different ranges in the mechatronic spatial drive system on the basis of this approach are classified. The configuration of the octahedron has been established with introducing an idealized mechanism for which the analytical relations among the links and the kinematic initial conditions in the spatial drive system during positioning are determined. Calculations are made using the initial conditions and parameters of the process of entering the position of the master drive of the system and the processes of translational and transverse-angular displacement of the platforms are established. Calculations are confirmed by the results of experimental measurements. Recommendations on increasing the dynamic processes of positioning the spatial drive systems are developed on the basis of the conducted research.

Originality. The proposed approach to determining the process of positioning the spatial drive system through time-independent processes with different ranges of performance is fundamentally new. At the same time, new knowledge about the nature of the process parameters in the spatial drive system is obtained. A dynamic model of the drive and methods for its simplification are proposed. The method for determining the initial conditions at the entering the system into the position which means the approximation of the spatial system by the mechanism that corresponds to the octahedron is proposed. The analytical dependencies that are the basis for finding the initial conditions are defined for this mechanism. Models and results of calculations of the process of the drive displacement and the translational and cross-angular displacements of the platform and the established indicators of dynamic accuracy of positioning are introduced.

Practical value. The peculiarities of dynamic positioning processes are established and recommendations on increasing the dynamic accuracy are made by using special vibration damper installed in particular locations of the spatial drive system.

References.

1. Mansoor Alghooneh, Christine Qiong Wu and Masoumeh Esfandiari, 2016. A Passive-Based Physical Bipedal Robot With a Dynamic and Energy-Efficient Gait on the Flat Ground. Journal Transactions on Mechatronics, 21(4), pp. 1977–1984.

2. Baoquan Li, Yongchun Fang, Guoqiang Hu and Xuebo Zhang, 2016. Model-Free Unified Tracking and Regulation Visual Servoing of Wheeled Mobile Robots. Journal Sensors and Actuators A: Physical, IEEE Transactions on Control Systems Technology,  24(4), рр. 1328–1339.

3. Pavlenko, І. І., 2016. Industrial works and RTK. Kropivnitsky: Publisher Lysenko V.F.

4. Amin Ghadami, 2016. Bifurcation Forecasting for Large Dimensional Oscillatory Systems: Forecasting Flutter Using Gust Responses. Journal of Computational and Nonlinear Dynamics, 11(6), 8 pages.DOI: 10.1115 / 1.4033920.

5. Daisuke Kono, Syuya Nishio, Iwao Yamaji and Atsushi Matsubara, 2015. A method for stiffness tuning of machine tool supports considering contact stiffness. International Journal of Machine Tools and Manufacture, 90, pp. 50–59. DOI: 10.1016/j.ijmachtools.2015.01.001.

6. Georg Nawratil and Josef Schicho, 2015. Self-motions of pentapods with linear platform. Robotica, Cambridge University Press.  DOI: 10.1017/S0263574715000843, 29 pages.

7. Sebastien Briot and Wisama Khalil, 2015. Dynamics of Parallel Robots: From Rigid Bodies to Flexible Elements. Springer International Publishing Switzerland.

8. Heisel, U., Strutinskiy, S., Sidorko, V., Filatov, Yu. and Storchak, M., 2011. Development of controllable spherical fluid friction hinges for exact spatial mechanisms. Production Engineering, 5, pр. 241‒250. DOI: 10.1007/s11740-010-0291-9.

9. Strutynskyi, V. B.,  Hurzhiy, A. A., Kolot, O. V. and Polunichev, V. Е., 2016. Determination of development grounds and characteristics of mobile multi-coordinate robotic machines for materials machining in field conditions. Naukovyi Visnyk Natsionalnoho Hirnychoho Universytetu, 5, pp. 43‒51.

10. Andreas Müller and Zdravko Terze, 2014. The significance of the configuration space Lie group for the constraints at is faction in numerical time integration of multi body systems. Mechanism and Machine Theory, 82, pp. 173–202. DOI: 10.1016/j.mechmachtheory.2014.06.014.

11. Dashchenko, A. F., Kolomieets, L. V. and Svinarev, Yu. N., 2015. Theoretical Foundations of Engineering Mechanics. Odessa: Publisher “Pluton”.

12. István Kecskés, Ervin Burkus, Fülöp Bazsó and Péter Odry, 2015. Model validation of a hexapod walker robot. Cambridge University Press.

13. Strutynskyi, S. V. and Hurzhii, A. A., 2017. Definition of vibro displacements of drive systems with laser triangulation meters and setting their integral characteristics via hyper-spectral analysis method. Naukovyi Visnyk Natsionalnoho Hirnychoho Universytetu,1, pp. 75‒81.

14. Jaime Gallardo-Alvarado, Ramon Rodriguez-Castro, Martin Caudillo-Ramirez and Luciano Perez-Gonzalez, 2015. An Application of Screw Theory to the Jerk Analysis of a Two-Degrees-of-Freedom Parallel Wrist. Robotics, 4, рр. 50‒62.

15. Ho-Seung Jeong and Jong-Rae Cho, 2016. Optimal design of head expander for a lightweight and high frequency vibration shaker. International Journal of Precision Engineering and Manufacturing, 17(7), pp. 909‒916.

 повний текст / full article

• < Prev
• Next >