Beruflich Dokumente
Kultur Dokumente
http://www.ijmp.jor.br
v. 5, n. 3, June - September 2014
ISSN: 2236-269X
DOI: 10.14807/ijmp.v5i3.159
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564
1.
INTRODUCTION
Moving mechanical structures are used increasingly in almost all vital sectors
of humanity (CAO et al., 2013). The robots are able to process integrated circuits
sizes micro and nano, on which the man they can be seen even with electron
microscopy (GARCIA et al., 2007). Dyeing parts in toxic environments (TONG; GU;
XIE, 2013), working in chemical and radioactive environments, or at depths and
pressures at the bottom of huge oceans, or even cosmic space conquest and visiting
exo-planets, are now possible, and were turned into from the dream in reality,
because mechanical platforms sequential gearbox (PERUMAAL; JAWAHAR, 2013).
Robots were developed and diversified, different aspects, but to-day, they start
to be directed on two major categories: systems serial and parallel systems
(PADULA; PERDEREAU, 2013). Parallel systems are more solid, but more difficult to
designed and handled, which serial systems were those which have developed the
most. In medical operations or radioactive environments is preferred mobile systems
parallel to their high accuracy positioning (REDDY; SHIHABUDHEEN; JACOB,
2012).
2. THE STRUCTURE AND GEOMETRY OF A STEWARD SYSTEM
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565
Figure 1 shows unit vectors route along items 1 and 2 from the bottom to
mobile platform. The co-ordinates ( i , i , i , system 1) of vectors unit ( Li , system 2)
belonging to motto-items 1-6 (variable-length) are given by the system (1), where li is
the length (module) of vectors li (system 3); with i=1-6 (GARCIA-Murillo, 2013).
xD x A
;
1
l1
xD xB
l
2
xE x B
;
3
l
xE xC ;
4
l4
xF xC ;
5
l5
xF x A ;
6
l6
yD y A
z zA
; 1 D
;
l1
l1
yD yB
z zB
; 2 D
;
l2
l2
yE yB
z zB
; 3 E
;
l3
l3
yE yC
z zC
; 4 E
;
l4
l4
yF yC
z zC
; 5 F
;
l5
l5
yF y A
z zA
; 6 F
;
l6
l6
(1)
Where these lengths of vectors unit are given by the system (2), and actual
lengths of the six mottoelements (variables) is expressed by the system (3).
L i j k ; L i j k ;
1
1
1
2
2
2
2
1
L3 3 i 3 j 3 k ; L4 4 i 4 j 4 k ;
L5 5 i 5 j 5 k ; L6 6 i 6 j 6 k
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566
l l L l i l j l k ;
1 1
1 1
1 1
1 1 1
l l L l i l j l k ;
2 2
2 2
2 2
2 2 2
l l L l i l j l k ;
3 3 3
3 3
3 3
3 3
l4 l4 L4 4 l4 i 4 l4 j 4 l4 k ;
l5 l5 L5 5 l5 i 5 l5 j 5 l5 k ;
l6 l6 L6 6 l6 i 6 l6 j 6 l6 k
(3)
( l1 l1 L1 ); in the same way and the distance a1 which defines the position of the
center point of gravity G1 (and the center of gravity G1 is continuously changed, even
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567
if rod mass formed from virtually two kinematic elements in relative movement of
translation is virtually constant).
x ; x D 1 l1 ;
;
l
x
x
l
l
D
A
D
1 1
1 1
1
1 1
l1
y D 1 l1
l
y
y
;
l
l
y
;
;
1 1
D
A
D
1 1
1 1
1
l
1
z D 1 l1
1 l1 z D z A ; 1 l1 1 l1 z D ; 1
l1
(4)
x x l ; y y l ; z z l ;
A
1 1
D
A
1 1
D
A
1 1
D
(5)
a1 x D (l1 a1 ) x A
;
xG1
l1
a1 y D (l1 a1 ) y A
;
yG1
l1
a z (l1 a1 ) z A
z G1 1 D
l1
(6)
a1 x D a1 x D (l1 a1 ) x A ;
a x a x l x (l1 a1 ) x A
xG1 1 D 1 D 1 G1
;
l1
y a1 y D a1 y D l1 yG1 (l1 a1 ) y A ;
G1
l1
a1 z D a1 z D l1 zG1 (l1 a1 ) z A
z
G1
l1
(7)
Kinetic energy of the mechanism (8) is being written while taking account of
the fact that the translation center of gravity of each mottoelement already contains
and the effect of different rotations. Each motoelement (rod) will be studied as a
single kinematic element variable-length to constant mass and the position of the
center of gravity variable. Each mottoelement movement is one of spatial rotation
(PETRESCU et al., 2009; PETRESCU; PETRESCU, 2011-2013).
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m3
m1 2
m2
2
2
2
2
2
2
2
2
m
m
m4
xG2 4 y G2 4 zG2 4 5 xG25 y G2 5 zG2 5 6 xG2 6 y G2 6 zG2 6
2
2
2
J 7 SN
m7
2
2
2
72SN
x
y
z
S
S
S
2
2
(8)
After the model system (7) is determined velocities of centers of the weight of
the six rods (see equations 9). Speeds xS , y S , zS , 7 SN are known. The masses are
weighed and mass moment of inertia after axis N shall be calculated on the basis of
a approximate formula (10).
a1 ( y D y A ) a1 y D l1 ( y A yG1 )
a1 ( xD x A ) a1 x D l1 ( x A xG1 )
; y G1
;
xG1
l1
l1
a 2 ( xD xB ) a2 x D l2 ( x B xG2 )
a ( z z A ) a1 z D l1 ( z A zG1 )
zG 1 D
x
G2
1
l2
l1
a 2 ( z D z B ) a2 z D l2 ( z B zG2 )
a 2 ( y D y B ) a2 y D l2 ( y B yG2 )
; zG2
;
yG2
l2
l2
a 3 ( y E y B ) a3 y E l3 ( y B yG3 )
a 3 ( xE xB ) a3 x E l3 ( x B xG3 )
; y G3
;
xG3
l3
l3
a3 ( z E z B ) a3 z E l3 ( z B zG3 )
a 4 ( xE xC ) a4 x E l4 ( xC xG4 )
;
;
x
z
G3
G4
l
l
3
4
a 4 ( z E zC ) a4 z E l4 ( zC zG4 )
a ( y E yC ) a4 y E l4 ( yC yG4 )
y G 4
; zG4
;
4
l4
l4
a5 ( y F yC ) a5 y F l5 ( yC yG5 )
a5 ( x F xC ) a5 x F l5 ( xC xG5 )
;
;
y
x
G5
G5
l5
l5
a 6 ( x F x A ) a6 x F l6 ( x A xG6 )
a 5 ( z F zC ) a5 z F l5 ( zC zG5 )
; xG6
;
zG5
l6
l5
(9)
y a6 ( y F y A ) a6 y F l6 ( y A yG6 ) ; z a6 ( z F z A ) a6 z F l6 ( z A zG6 )
G6
G6
l6
l6
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1
1
2
m p RT2 m p rT2 m
m
1
p
p
2
2
2
2
J 7 SN 2
RT rT
RT RT
2
4
4
2
m
5
1 5
p RT2 1 m p RT2 m p R 2
4
16
4 16
(10)
The co-ordinates are obtained vector Sx1. This, along with the
coordinates of the pixel S causes axis Sx1 (11) (PETRESCU et al., 2009;
PETRESCU; PETRESCU, 2011-2013).
570
l x x 2 y y 2 z z 2
D
S
D
S
D
S
SD
xD xS xD xS
2
;
x1
lSD
R
y yS y D y S
z D zS z D zS
x D
;
x1
1
lSD
R
lSD
R
(11)
By screwing axis Sz1 by (over) axis Sx1 , weve axis Sy1 (12). The co-ordinates
are thus obtained mobile system x1Sy1z1 (12).
i
j k
x1 x1 x1
x1 x1 i x1 x1 j x1 x1 k
z z y y
x D xS z D z S
D
S
D
S
i
j
R
R
y D y S xD xS
k y1 i y1 j y1 k ;
z D zS y D yS
;
y1
R
x1 x1 x1
y x D xS z D z S ; [ x1 Sy1 z1 ] y y y
1
1
1
R
1
y D y S xD xS
;
y1
R
x D xS ; z D z S y D y S ; ;
y1
z1
x1
R
R
x y D y S ; y x D xS z D z S ; z ;
1
1
R
R
1
z zS
y D y S x D xS
; y1
; z1
x1 D
R
R
(12)
In Figure 4 is given a positive rotation to axis Sx1 around the axis Sz1 ( N ), the
angle 1 .
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571
Using relations (13) to be written about the system matrix (14), which is
determined directly (using rotation matrix) absolute co-ordinates (in accordance with
the mark fixed cartesian) of a point D1 that is part of the plan of mobile top plate. This
point moves on the circle of radius R and center S in accordance with rotation
imposed by the rotation angle 1 . Final coordinates are explained in the form (15)
(PETRESCU et al., 2009; PETRESCU; PETRESCU, 2011-2013).
z D z S y D yS
xD xS
; z1 ; x1D1 R cos 1
x1 R ; y1
R
y D yS
xD xS zD zS
; y1
; z1 ; y1D1 R sin 1
x1
R
R
z D zS
yD yS xD xS
; z1 ; z1D1 0
x1 R ; y1
R
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(13)
572
x1 x1 x1
x
x1D1 xS x1 x1D1 x1 y1D1 x1 z1D1
1
x
S
D
y 1 yS y y y y 1 yS y x 1 y y 1 y z 1
D
1
D
1
D
1
D
1
D
1
1
1
1
1
1
z z x y z
z
z
1
D1 S
z1
z1
z1
1D1
1D1
1D1
z1 z1 z1 1 D S
xS xD xS cos 1 y D yS sin 1
yS z D zS y D yS cos 1 xD xS z D zS sin 1
z R cos R sin
1
1
S
(14)
x D1 xS x D x S cos 1 y D y S sin 1
y D1 y S z D z S y D y S cos1 x D xS z D z S sin 1
z D1 z S R cos 1 R sin 1
(15)
Rotation matrix method is used to obtain the point F (for a deduction point
coordinates F). Point D shall be superimposed over the point F, if assigns to point D
a positive rotation of 1200 (relations 16-17). Derive the system (17) and we obtain
directly velocities (18) and accelerations (19) of the point F (HE et al., 2013).
yS z D z S yD yS cos120
1
yF yD120
xD xS z D zS sin 120
z z 1 z R cos120 R sin 120
S
D120
F
1
3
yD yS
x F x S x D xS
2
2
y F yS 2 z D z S y D yS
3 x x z z
D
S
D
S
2
z z 1 R 3 R
S
F
2
2
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(16)
(17)
573
1
3
y D y S
x F x S x D x S
2
2
y F y S 2 z D z S z D z S y D y S y D y S
3 x x x x z z z z
D
S
D
S
D
S
D
S
2
z z 1 R 3 R
S
F
2
2
1
3
yD yS
xF xS xD xS
2
2
yF yS 1 z D z S 2 zD zS zD zS
2
y D yS 2 y D y S yD yS
3 x x 2 x x x x
D
S
D
S
D
S
2
z z 2 z z z z
D
S
D
S
D
S
z z 1 R 3 R
S
F
2
2
(18)
(19)
For the purpose of determining point coordinates E're still circling the point D
with 1 1200 (20). Velocities (21) and accelerations (22) point E is determined by
deriving system (20) (LEE, 2013).
1
3
yD yS
x E xS x D xS
2
2
y
y
z D z S y D y S
E
S
3 x x z z
D
S
D
S
2
z z 1 R 3 R
S
E
2
2
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(20)
574
1
3
y D y S
x E xS x D xS
2
2
y E y S 2 z D z S zD zS y D yS y D y S
3 x x x x z z z z
D
S
D
S
D
S
D
S
2
z z 1 R 3 R
S
E
2
2
1
3
yD yS
xE xS xD xS
2
2
y
y
z D z S 2 z D zS zD zS
E
S
y D yS 2 y D y S yD yS
3 x x 2 x x x x
D
S
D
S
D
S
2
z z 2 z z z z
D
S
D
S
D
S
1
3
R
zE zS R
2
2
(21)
(22)
4. APPLICATIONS
Presented system can be useful in particular to the surgical robot that operate
patients who require an accuracy of positioning very high (see figure 5).
Figure 5: Surgical robot that operate patients who require an accuracy of positioning
very high
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These platforms can position very accurately even very large weights, such as
a telescope modern stationary (see Fig. 6).
Other applications of the platform Stewart are handling and precise positioning
of objects large and heavy.
Spatial Stewart platforms may conquer outer space in the future (MELO;
ALVES; ROSRIO, 2012).
The
latest
PC-based
digital
controllers,
facilitated
by
open-interface
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576
In addition to the coordinated output of the six hexapod axes, these new
hexapod controllers provide two additional axes that can be used to operate rotary
stages, linear stages or linear actuators. Some include a macro language for
programming and storing command sequences. These controllers feature flexible
interfaces, such as TCP/IP interface for remote, network and Internet connection.
New simulation tools are being incorporated for graphical configuration and
simulation of hexapods to verify workspace requirements and loads. Such software
provides full functionality for creation, modeling, simulation, rendering and playback
of hexapod configurations to predict and avoid interference with possible obstacles in
the workspace.
With the new design developments that hexapod systems are experiencing,
manufacturers and researchers that have a need for extreme high resolutions and
high accuracy can now capitalize on them for improvements within their workplace.
Hexapod technology has advanced considerably in a few short years, now it is up to
industry to embrace these new developments and put them to work to reduce their
set-up and processing time, overall production cycle times, and ultimately reduced
cost of operation.
5. CONCLUSIONS
The presented method manages to synthesize (in theory) the best option
parameters for any desired parallel system. Moving mechanical systems parallel
structures are solid, fast, and accurate. Between parallel systems (WANG et al.,
2013) it is to be noticed Stewart platforms, as the oldest systems, fast, solid and
precise.
The work outlines a few main elements of Stewart platforms. Begin with the
geometry platform, kinematic elements of it, and presented then and a few items of
dynamics. Dynamic primary element on it means the determination mechanism
kinetic energy of the entire Stewart platforms. It is then in a record tail cinematic
mobile by a method dot matrix of rotation.
If a structural mottoelement consists of two moving elements which translates
relative, drive train and especially dynamic it is more convenient to represent the
mottoelement as a single moving components.
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577
We have thus seven moving parts (the six motoelements or feet to which is
added mobile platform 7) and one fixed.
Proposed method (in this work) may determine kinematic parameters system
position when required the co-ordinates of the endeffector S.
This is clearly a reverse motion (an inverse kinematics) (LIN et al., 2013).
Method is direct, simple, quick and accurate.
Information display method presented is much simpler and more direct in
comparison with methods already known.
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