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Mechatronics for Safety, Security and Dependability in a New Era - Arai and Arai Part 16

Tham khảo tài liệu 'mechatronics for safety, security and dependability in a new era - arai and arai part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 434 linear joints. Next we give these torques and acceleration to the forward dynamics to estimate the acceleration of the passive linear joints. Figure 6 shows its results. The horizontal axis indicates time s and the vertical axis indicates the acceleration cm s2 of the passive linear joint 112 and 122. Next we give these torques and acceleration to forward dynamics to estimate the acceleration of the passive linear joints. Figure 6 shows its results. The horizontal axis indicates time s and vertical axis indicates the acceleration cm s2 of the passive linear joint 112 and 122. Figure 6 shows the same as Figure 5. If this mechanism is given the estimated torque and the acceleration of the active rotary joints it is possible to calculate the desired passive linear joint displacements velocities and accelerations. Therefore we can ultimately calculate the desired link length. Figure 5 The deshed acceleration of 112 and 122 Figure 6 The estimated acceleration of 112 and 122 CONCLUSIONS In this paper we have discussed a method for link length adjustment using dynamics for the 2-DOF planer rotary actuated parallel mechanism with passive linear joints on each link. The procedure of this method is as follows first estimate the trajectories between the present and desired displacement velocity and acceleration of the passive linear joints. Then estimate the torques and accelerations of the active rotary joints in order to solve the accelerations velocities and displacements of passive linear joints. By setting the torques and accelerations to the active rotary joints the desired acceleration is generated on the passive linear joints. By achieving the deshed trajectories of the passive linear joints we obtain the desired link length. References 1 T. Arai et al. 2000 . Parallel Mechanisms with Adjustable link length. Proc. IEEE RSJ 2000 International Conference on Intelligent Robotics and Systems 671-676. 2 H. Aral et al. 1991 . Position Control System of a Two Degree of .