The Experts below are selected from a list of 261 Experts worldwide ranked by ideXlab platform
Stefan Staicu - One of the best experts on this subject based on the ideXlab platform.
-
Dynamics of a 3-RRR Spherical Parallel Mechanism Based on Principle of Virtual Powers
2020Co-Authors: Stefan StaicuAbstract:Some recursive matrix relations for the geometric analysis, kinematics and Dynamics of a 3- RRR symmetric spherical Agile Wrist parallel mechanism are established. The manipulator prototype is a three-d egree-of- freedom mechanical system with three parallel legs. Controlled by concurrent torques, which are generated by some e motors, three active elements of the robot have thr ee independent rotations. Supposing that the position and the rotation motion of the moving platform are known, an Inverse Dynamic Problem is developed using the principle of virtual powers to compute actuating couples. Finally, some m atrix relations and some graphs for the torques and the p owers of the actuators are determined 1 .
-
Joint forces in Dynamics of the 3-RRR planar parallel robot
International Journal of Mechanisms and Robotic Systems, 2013Co-Authors: Stefan StaicuAbstract:Recursive matrix relations for the complete Dynamics of a 3-RRR planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the Inverse kinematics Problem and determine the positions, velocities and accelerations of the robot. Further, the Inverse Dynamic Problem is solved using an approach based on the principle of virtual work. Finally, compact matrix equations and graphs of simulation for the input torques of three actuators, the external and internal joint forces are obtained.
-
Internal joint forces in Dynamics of a 3-PRP planar parallel robot
2012Co-Authors: Stefan Staicu, Damien ChablatAbstract:Recursive matrix relations for the complete Dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the Inverse kinematical Problem and determine the positions, velocities and accelerations of the robot. Further, the Inverse Dynamic Problem is solved using an approach based on the principle of virtual work. Finally, some graphs of simulation for the input powers of three actuators and the internal joint forces are obtained.
-
Matrix modeling of Inverse Dynamics of spatial and planar parallel robots
Multibody System Dynamics, 2012Co-Authors: Stefan StaicuAbstract:Recursive matrix relations for kinematics and Dynamics analysis of two known parallel mechanisms: the spatial 3-PRS and the planar 3-RRR are established in this paper. Knowing the motion of the platform, we develop first the Inverse kinematical Problem and determine the positions, velocities, and accelerations of the robot’s elements. Further, the Inverse Dynamic Problem is solved using an approach based on the principle of virtual work, and the results can be verified in the framework of the Lagrange equations with their multipliers. Finally, compact matrix equations and graphs of simulation for power requirement comparison of each of three actuators in two different actuation schemes are obtained. For the same evolution of the moving platform, the power distribution upon the three actuators depends on the actuating configuration, but the total power absorbed by the set of three actuators is the same, at any instant, for both driving systems. The study of the Dynamics of the parallel mechanisms is done mainly to solve successfully the control of the motion of such robotic systems.
-
Matrix modelling in Dynamics of a 2-DOF orienting gear train
Robotics and Autonomous Systems, 2011Co-Authors: Stefan StaicuAbstract:Recursive matrix relations for kinematics and Dynamics analysis of a 2-DOF orienting gear train are established in this paper. The mechanism is a parallel system with five moving links and three bevel gear pairs controlled by two electric motors. Knowing the rotation motion of the end-effector, the Inverse Dynamic Problem is solved using an approach based on the principle of virtual work and have verified the results in the framework of the Lagrange equations of the second kind. Finally, some graphs for the input angles of rotation, the forces and the powers of the actuators are obtained.
Dc Carp-ciocardia - One of the best experts on this subject based on the ideXlab platform.
-
Dynamics of Delta parallel robot with prismatic actuators
Proceedings of the 2005 IEEE International Conference on Mechatronics ICM '05, 2005Co-Authors: Dc Carp-ciocardia, Stefan StaicuAbstract:Recursive matrix relations for kinematics and Dynamics of a new Delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one develops first the Inverse kinematical Problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the Inverse Dynamic Problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators. ©2005 IEEE.
-
ICRA - Dynamic analysis of Clavel's Delta parallel robot
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Co-Authors: Stefan Staicu, Dc Carp-ciocardiaAbstract:Some iterative matrix relations for the geometric, kinematic and Dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an Inverse Dynamic Problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
-
Dynamic analysis of Clavel's delta parallel robot
Robotics and Automation 2003. Proceedings. ICRA'03. IEEE International Conference on, 2003Co-Authors: Stefan Staicu, Dc Carp-ciocardiaAbstract:Some iterative matrix relations for the geometric, kinematic and Dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an Inverse Dynamic Problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.
Victor S Mikhaylov - One of the best experts on this subject based on the ideXlab platform.
-
Inverse Dynamic Problem for a krein stieltjes string
Applied Mathematics Letters, 2019Co-Authors: Alexander Mikhaylov, Victor S MikhaylovAbstract:Abstract We consider a Dynamic Inverse Problem for a Dynamical system describing the propagation of waves in a Krein–Stieltjes string. We offer three methods of recovering the string, that is point masses and distances between them, from the Dynamic Dirichlet-to-Neumann operator.
-
Inverse Dynamic Problem for a Krein–Stieltjes string
Applied Mathematics Letters, 2019Co-Authors: Alexander Mikhaylov, Victor S MikhaylovAbstract:Abstract We consider a Dynamic Inverse Problem for a Dynamical system describing the propagation of waves in a Krein–Stieltjes string. We offer three methods of recovering the string, that is point masses and distances between them, from the Dynamic Dirichlet-to-Neumann operator.
-
Inverse Dynamic Problem for canonical systems with smooth strictly positive Hamiltonians and de Branges spaces
2018 Days on Diffraction (DD), 2018Co-Authors: Alexander S. Mikhaylov, Victor S MikhaylovAbstract:We solve the Dynamic Inverse Problem for a canonical system with smooth strictly positive Hamiltonian. We also construct the corresponding de Branges space.
Ken Kaufman - One of the best experts on this subject based on the ideXlab platform.
-
Prediction of Muscle Recruitment and Its Effect on Joint Reaction Forces during Knee Exercises
Annals of Biomedical Engineering, 1998Co-Authors: Guoan Li, Kenji Kawamura, Peter Barrance, Edmund Y. S. Chao, Ken KaufmanAbstract:This study examined the hypothesis that muscle recruitment of the tibiofemoral joint and joint reaction forces during isometric and isokinetic exercises depends on the existing degrees of freedom of the knee and the direction and type of external load applied during exercise. When three-dimensional knee joint rotation was considered (three degrees of freedom), antagonistic muscle activities were predicted using an Inverse Dynamic Problem formulation and muscle modeling optimization procedures. The results showed that the antagonistic activities of flexors during knee flexion/extension exercise increased the joint compressive forces and decreased the anterior tibial shear forces. Comparison of different knee joint modeling assumptions indicated that modeling a single degree of freedom in flexion/extension for the knee will underestimate the antagonistic muscle function. © 1998 Biomedical Engineering Society. PAC98: 8745Bp, 8745Dr, 8710+e
E. Bayo - One of the best experts on this subject based on the ideXlab platform.
-
Trajectory planning for flexible manipulators
Proceedings. IEEE International Conference on Robotics and Automation, 1990Co-Authors: M.a. Serna, E. BayoAbstract:A trajectory planner for a one-flexible-link manipulator is presented. The approach is based on the solution to the Inverse Dynamic Problem for flexible manipulators in the frequency domain. The Problem is mathematically formulated as an optimization of the settling time subject to maximum torque and high frequency content constraints. A cubic-rectangular acceleration profile is proposed as a generic input to be used in the optimization process, and the general optimization procedure is established. The application of the approach to a particular case shows the operativeness of the proposed methodology and the possibility of an intelligent election of trajectories for flexible manipulators.
-
ICRA - Trajectory planning for flexible manipulators
Proceedings. IEEE International Conference on Robotics and Automation, 1990Co-Authors: M.a. Serna, E. BayoAbstract:A trajectory planner for a one-flexible-link manipulator is presented. The approach is based on the solution to the Inverse Dynamic Problem for flexible manipulators in the frequency domain. The Problem is mathematically formulated as an optimization of the settling time subject to maximum torque and high frequency content constraints. A cubic-rectangular acceleration profile is proposed as a generic input to be used in the optimization process, and the general optimization procedure is established. The application of the approach to a particular case shows the operativeness of the proposed methodology and the possibility of an intelligent election of trajectories for flexible manipulators. >
