This document discusses developing a prototype model of a parallel manipulator. Parallel manipulators have advantages like high payload capacity, stiffness, accuracy, and precision. The document outlines studying the positional analysis of a 3-6 limb spatial parallel manipulator using revolute, prismatic, and spherical joints. The positional analysis includes forward and inverse kinematics. Previous research on parallel manipulator kinematic and dynamic analysis is reviewed. Applications include airplane simulators, mining machines, surgical manipulators, and more. The goal is to analyze the possible solutions to the initial positional analysis by changing limb lengths through linear actuators and modeling in CAD software.
The performance evaluation is one of most important issues in the analysis and design of parallel manipulators.
Characteristics such as manipulability and minimum singular value are used to determine the performance of the manipulators. The performance indices are used to eliminate the singularity and it’s near configurations. In this paper 6-UPS spatial parallel manipulator is considered and its performance indices such as condition number, manipulability and minimum singular value are determined for different structures.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
Modeling and control approach to a distinctive quadrotor helicopterISA Interchange
The referenced quadrotor helicopter in this paper has a unique configuration. It is more complex than commonly used quadrotors because of its inaccurate parameters, unideal symmetrical structure and unknown nonlinear dynamics. A novel method was presented to handle its modeling and control problems in this paper, which adopts a MIMO RBF neural nets-based state-dependent ARX (RBF-ARX) model to represent its nonlinear dynamics, and then a MIMO RBF-ARX model-based global LQR controller is proposed to stabilize the quadrotor's attitude. By comparing with a physical model-based LQR controller and an ARX model-set-based gain scheduling LQR controller, superiority of the MIMO RBF-ARX model-based control approach was confirmed. This successful application verified the validity of the MIMO RBF-ARX modeling method to the quadrotor helicopter with complex nonlinearity.
Manipulability index of a parallel robot manipulatorIAEME Publication
The manipulability index is used to quantify manipulators velocity transmission capabilities or the dexterity of robot. The index is a measure of manipulating ability of robotic echanisms in positioning and orienting the end effectors. The index allows to quantify the proximity of the robot to a singularity, which is ideal for identifying paths of welding with continuous and soft movements at the robot joints.
The performance evaluation is one of most important issues in the analysis and design of parallel manipulators.
Characteristics such as manipulability and minimum singular value are used to determine the performance of the manipulators. The performance indices are used to eliminate the singularity and it’s near configurations. In this paper 6-UPS spatial parallel manipulator is considered and its performance indices such as condition number, manipulability and minimum singular value are determined for different structures.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
Modeling and control approach to a distinctive quadrotor helicopterISA Interchange
The referenced quadrotor helicopter in this paper has a unique configuration. It is more complex than commonly used quadrotors because of its inaccurate parameters, unideal symmetrical structure and unknown nonlinear dynamics. A novel method was presented to handle its modeling and control problems in this paper, which adopts a MIMO RBF neural nets-based state-dependent ARX (RBF-ARX) model to represent its nonlinear dynamics, and then a MIMO RBF-ARX model-based global LQR controller is proposed to stabilize the quadrotor's attitude. By comparing with a physical model-based LQR controller and an ARX model-set-based gain scheduling LQR controller, superiority of the MIMO RBF-ARX model-based control approach was confirmed. This successful application verified the validity of the MIMO RBF-ARX modeling method to the quadrotor helicopter with complex nonlinearity.
Manipulability index of a parallel robot manipulatorIAEME Publication
The manipulability index is used to quantify manipulators velocity transmission capabilities or the dexterity of robot. The index is a measure of manipulating ability of robotic echanisms in positioning and orienting the end effectors. The index allows to quantify the proximity of the robot to a singularity, which is ideal for identifying paths of welding with continuous and soft movements at the robot joints.
Control-Integrated Design by Theoretical Simulation for a Torque-Actuated 6-S...IDES Editor
A design algorithm has been proposed for a Stewart platform with six legs, each having a ball-screw at the middle and powered by a torque motor at the bottom. When a motor shaft rotates, the leg extends or collapses and the axis could rotate about a spherical joint supporting the motor. Consequent actuation from all the legs through a universal joint at the top of each causes the platform to change its pose. The joints at each end lie on the intersection of a pitch circle and a semi-regular hexagon. An inverse model that neglects friction and leg inertia has been employed in a step-by-step simultaneous search to determine the platform height at the neutral and
the radius of the bottom pitch circle within the constraint of permissible joint angle and motor specifications. The proposed control for a basic pose demand involves a feedforward
estimation of motor torque variation, a proportional-derivative feedback and appropriate compensating demand for minimizing unwanted coupled motion. The forward modeling of the pose dynamics and its Simulink implementation have
established the control as satisfactory.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Modal Space Controller for Hydraulically Driven Six Degree of Freedom Paralle...Dr. Amarjeet Singh
This paper presents the Modal space decoupled control for a hydraulically driven parallel mechanism has been presented. The approach is based on singular values decomposition to the properties of joint-space inverse mass matrix, and mapping of the control and feedback variables from the joint space to the decoupling modal space. The method transformed highly coupled six-input six-output dynamics into six independent single-input single-output (SISO) 1 DOF hydraulically driven mechanical systems. The novelty in this method is that the signals including control errors, control outputs and pressure feedbacks are transformed into decoupled modal space and also the proportional gains and dynamic pressure feedback are tuned in modal space. The results indicate that the conventional controller can only attenuate the resonance peaks of the lower eigenfrequencies of six rigid modes properly, and the peaking points of other relative higher eigenfrequencies are over damped, The further results show that it is very effective to design and tune the system in modal space and that the bandwidth increased substantially except surge (x) and sway (y) motions, each degree of freedom can be almost tuned independently and their bandwidths can be increased near to the undamped eigenfrequencies.
Slider Crank Mechanism for Four bar linkageijsrd.com
the slider crank mechanism is a particular four bar linkage configuration that exhibits both linear and rotational motion simultaneously. This mechanism is frequently utilized in undergraduate engineering courses to investigate machine kinematics and resulting dynamic forces. The position, velocity, acceleration and shaking forces generated by a slider crank mechanism during operation can be determined analytically. Certain factors are often neglected from analytical calculations, causing results to differ from experimental data. The study of these slight variances produces useful insight. The following report details the successful design, fabrication and testing of a pneumatically powered slider crank mechanism for the purpose of classroom demonstration and experimentation. Transducers mounted to the mechanism record kinematic and dynamic force data during operation, which can then be compared to analytical values. The mechanism is capable of operating in balanced and unbalanced configurations so that the magnitude of shaking forces can be compared. The engine was successfully manufactured and operates as intended. Data recorded by the device's accelerometers is comparable to calculated values of acceleration and shaking force.
Modeling, Simulation, and Optimal Control for Two-Wheeled Self-Balancing Robot IJECEIAES
Two-wheeled self-balancing robot is a popular model in control system experiments which is more widely known as inverted pendulum and cart model. This is a multi-input and multi-output system which is theoretical and has been applied in many systems in daily use. Anyway, most research just focus on balancing this model through try-on experiments or by using simple form of mathematical model. There were still few researches that focus on complete mathematic modeling and designing a mathematical model based controller for such system. This paper analyzed mathematical model of the system. Then, the authors successfully applied a Linear Quadratic Regulator (LQR) controller for this system. This controller was tested with different case of system condition. Controlling results was proved to work well and tested on different case of system condition through simulation on matlab/Simulink program.
Control-Integrated Design by Theoretical Simulation for a Torque-Actuated 6-S...IDES Editor
A design algorithm has been proposed for a Stewart platform with six legs, each having a ball-screw at the middle and powered by a torque motor at the bottom. When a motor shaft rotates, the leg extends or collapses and the axis could rotate about a spherical joint supporting the motor. Consequent actuation from all the legs through a universal joint at the top of each causes the platform to change its pose. The joints at each end lie on the intersection of a pitch circle and a semi-regular hexagon. An inverse model that neglects friction and leg inertia has been employed in a step-by-step simultaneous search to determine the platform height at the neutral and
the radius of the bottom pitch circle within the constraint of permissible joint angle and motor specifications. The proposed control for a basic pose demand involves a feedforward
estimation of motor torque variation, a proportional-derivative feedback and appropriate compensating demand for minimizing unwanted coupled motion. The forward modeling of the pose dynamics and its Simulink implementation have
established the control as satisfactory.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Modal Space Controller for Hydraulically Driven Six Degree of Freedom Paralle...Dr. Amarjeet Singh
This paper presents the Modal space decoupled control for a hydraulically driven parallel mechanism has been presented. The approach is based on singular values decomposition to the properties of joint-space inverse mass matrix, and mapping of the control and feedback variables from the joint space to the decoupling modal space. The method transformed highly coupled six-input six-output dynamics into six independent single-input single-output (SISO) 1 DOF hydraulically driven mechanical systems. The novelty in this method is that the signals including control errors, control outputs and pressure feedbacks are transformed into decoupled modal space and also the proportional gains and dynamic pressure feedback are tuned in modal space. The results indicate that the conventional controller can only attenuate the resonance peaks of the lower eigenfrequencies of six rigid modes properly, and the peaking points of other relative higher eigenfrequencies are over damped, The further results show that it is very effective to design and tune the system in modal space and that the bandwidth increased substantially except surge (x) and sway (y) motions, each degree of freedom can be almost tuned independently and their bandwidths can be increased near to the undamped eigenfrequencies.
Slider Crank Mechanism for Four bar linkageijsrd.com
the slider crank mechanism is a particular four bar linkage configuration that exhibits both linear and rotational motion simultaneously. This mechanism is frequently utilized in undergraduate engineering courses to investigate machine kinematics and resulting dynamic forces. The position, velocity, acceleration and shaking forces generated by a slider crank mechanism during operation can be determined analytically. Certain factors are often neglected from analytical calculations, causing results to differ from experimental data. The study of these slight variances produces useful insight. The following report details the successful design, fabrication and testing of a pneumatically powered slider crank mechanism for the purpose of classroom demonstration and experimentation. Transducers mounted to the mechanism record kinematic and dynamic force data during operation, which can then be compared to analytical values. The mechanism is capable of operating in balanced and unbalanced configurations so that the magnitude of shaking forces can be compared. The engine was successfully manufactured and operates as intended. Data recorded by the device's accelerometers is comparable to calculated values of acceleration and shaking force.
Modeling, Simulation, and Optimal Control for Two-Wheeled Self-Balancing Robot IJECEIAES
Two-wheeled self-balancing robot is a popular model in control system experiments which is more widely known as inverted pendulum and cart model. This is a multi-input and multi-output system which is theoretical and has been applied in many systems in daily use. Anyway, most research just focus on balancing this model through try-on experiments or by using simple form of mathematical model. There were still few researches that focus on complete mathematic modeling and designing a mathematical model based controller for such system. This paper analyzed mathematical model of the system. Then, the authors successfully applied a Linear Quadratic Regulator (LQR) controller for this system. This controller was tested with different case of system condition. Controlling results was proved to work well and tested on different case of system condition through simulation on matlab/Simulink program.
Water billing management system project report.pdfKamal Acharya
Our project entitled “Water Billing Management System” aims is to generate Water bill with all the charges and penalty. Manual system that is employed is extremely laborious and quite inadequate. It only makes the process more difficult and hard.
The aim of our project is to develop a system that is meant to partially computerize the work performed in the Water Board like generating monthly Water bill, record of consuming unit of water, store record of the customer and previous unpaid record.
We used HTML/PHP as front end and MYSQL as back end for developing our project. HTML is primarily a visual design environment. We can create a android application by designing the form and that make up the user interface. Adding android application code to the form and the objects such as buttons and text boxes on them and adding any required support code in additional modular.
MySQL is free open source database that facilitates the effective management of the databases by connecting them to the software. It is a stable ,reliable and the powerful solution with the advanced features and advantages which are as follows: Data Security.MySQL is free open source database that facilitates the effective management of the databases by connecting them to the software.
ACEP Magazine edition 4th launched on 05.06.2024Rahul
This document provides information about the third edition of the magazine "Sthapatya" published by the Association of Civil Engineers (Practicing) Aurangabad. It includes messages from current and past presidents of ACEP, memories and photos from past ACEP events, information on life time achievement awards given by ACEP, and a technical article on concrete maintenance, repairs and strengthening. The document highlights activities of ACEP and provides a technical educational article for members.
NUMERICAL SIMULATIONS OF HEAT AND MASS TRANSFER IN CONDENSING HEAT EXCHANGERS...ssuser7dcef0
Power plants release a large amount of water vapor into the
atmosphere through the stack. The flue gas can be a potential
source for obtaining much needed cooling water for a power
plant. If a power plant could recover and reuse a portion of this
moisture, it could reduce its total cooling water intake
requirement. One of the most practical way to recover water
from flue gas is to use a condensing heat exchanger. The power
plant could also recover latent heat due to condensation as well
as sensible heat due to lowering the flue gas exit temperature.
Additionally, harmful acids released from the stack can be
reduced in a condensing heat exchanger by acid condensation. reduced in a condensing heat exchanger by acid condensation.
Condensation of vapors in flue gas is a complicated
phenomenon since heat and mass transfer of water vapor and
various acids simultaneously occur in the presence of noncondensable
gases such as nitrogen and oxygen. Design of a
condenser depends on the knowledge and understanding of the
heat and mass transfer processes. A computer program for
numerical simulations of water (H2O) and sulfuric acid (H2SO4)
condensation in a flue gas condensing heat exchanger was
developed using MATLAB. Governing equations based on
mass and energy balances for the system were derived to
predict variables such as flue gas exit temperature, cooling
water outlet temperature, mole fraction and condensation rates
of water and sulfuric acid vapors. The equations were solved
using an iterative solution technique with calculations of heat
and mass transfer coefficients and physical properties.
3. ABSTRACT:
Parallel manipulators increase quality because of their large payload
carrying capacity, high stiffness, high accuracy and good precision in
positioning. Several parallel manipulators with 6-degree of freedom were
developed. But 6 dof manipulators have complicated analysis and moreover
distinct applications requires less then 6 -dof such as surgical manipulators,
3 -dof are flight simulations, etc. Parallel manipulators like 3-dof, 4-dof or
may be 5-dof.
A intended position analysis of spatial parallel manipulator consists
of 3-6 identical limbs , Base platform, Mobile platform, revolute joints,
prismatic joints and spherical joints. In the present task intended to carry
out, the positional analysis of spatial parallel manipulators have to be
analyzed. All the possible solutions of this initial analysis are calculated by
changing the limb lengths through linear actuators. modeling and
simulation done in Catia.
4. • INTRODUCTION:
* Spatial multi-degree of freedom mechanisms
*The motion characteristics may be planar, spherical [or] special type .
*The kinematic structure is made up of a closed loop mechanism.
* Each joint must be revolute [R] or prismatic[P] and mobility of each joint
must be one.
* 6 Dof parallel manipulators such as Stewart – Gough platform type and
Stewart universal type test machines
5. •
Stewart platform is six degree of freedom parallel mechanisms that consists of rigid
body moving plate, connected to fixed base plate through six independent kinematic
legs.
• Each leg contain precision ball-screw assembly and a DC-motor. Thus, length of the legs
is variable and they can be controlled separately to perform the motion of the moving
platform
6. • Positional analysis
o Kinematic analysis
a) forward kinematics
• b) inverse kinematics
Dynamic analysis
a) forward Dynamics
b) inverse Dynamics
7. :literature review
• Nalluri Mohan Rao and Mallikarjuna Rao R F (2006) “ Multi Dimensional
Synthesis of spatial 3-RPS Parallel Manipulators “, In this work the inverse
kinematics solutions are derived from the closed form . All possible solutions of
this initial analysis are calculated by change in limb lengths through linear
actuators, and also position and orientation equations of mobile platform with
respect to fixed base platform are analyzed.
• Stewart D ‘ A Platform with six Degree of Freedom ‘ says that describes a
mechanism which has six degrees of freedom, controlled in any combination by
six motors, each having a ground abutment. It is considered that by its
particular arrangement, this mechanism may form an elegant design for
simulating flight conditions in the training of pilots. Unlike most simulators, it
has no fixed axes relative to the ground, and therefore within the limits of
amplitude of the design it can truly simulate the conditions of banking by
carrying the simulation of control surfaces into the axes of the new attitude.
8. • Khalid ali Abdelaziz and Yung liu studied to find the limb
lengths of 3 Dof parallel manipulators can be found by using
Matlab coding to solve the non linear equations using inverse
kinematics and position analysis of also donethe 3 dof parallel
manipulator.
9. • Lee Kand shah D K , “Kinematic Analysis of a Three Degree of
Freedom In – parallel Activated Manipulator “, this work
studied forward and inverse kinematics of parallel
manipulators .
• Lee Kand shah D K , “Dynamic Analysis of a Three Degree of
Freedom In – parallel Activated Manipulator “, this work
studied dynamic analysis of parallel manipulators to control
the movement of the limbs.
10. • Xiaoyong Wu , Zhijiang Xie jorgen Asboll Kepler work presents model 3PPR Plane
parallel mipulators, aiming to optimize the shape design of the base and moving
platform. A case study included to demonstrate the dynamic performance with an
optimal performance shape design.
• Selcuk Kizir and zafer Bingul study indicates a high precision 6 DOF Stewart platform
is controlled by a PID and sliding mode controller . These controllers are embeded in a
Dspace DS1103 real time controller which is programmable in the Simulink
environment this study can be an example shows that how a real time controller can be
developed by using Matlab / Simulink and Dspace DS1103.if non linear extenal forces
applied to moving platform, control performance of the SMC will be better then PID.
11. ADVANTAGES
• Parallel manipulators are high stiffness
• high accuracy
• High speed
• Low inertia
• Large payload carrying capacity
• Good precision in positioning
12. APPLICATIONS:
• Parallel manipulators are such as airplane simulators
• Mining machines
• Walking machines
• Adjustable articulated trusses
• Pointing devices
• Robot manipulators
• Micro manipulators
• Tunnel borer
• Barbette of warship
13. • Satellite surveillance platform
• Parallel machine tools surgical manipulators
• Three degree of freedom sensors
• Medical applications
• Industrial applications
14. REFERENCES
• Lee K and Shah D K (1987) “Kinematic Analysis of a Three Degree Freedom In – Parallel Manipulators
“,in proceedings of the IEEE International Conference on Robotics and Automation, Vol.1,pp.345-350
• Lee K and Shah D K (1987) “Dynamic Analysis of a Three Degree Freedom In – Parallel Manipulators “,
IEEE Trans. Rob. Autom., Vol.4,pp.361-367
• Nalluri Mohan Rao K and Mallikarjuna rao RF (2006) “ Dimensional Synthesis of Spacial 3-RPS Parallel
manipulator for a Prescribed range of motion of Spherical joints “, J.nof Mechanisms of Machne
theory, vol.125,pp.447-486.
• Nalluri Mohan Rao K and Mallikarjuna rao RF (2006) “Multi – position Dimensional Synthesis of
Spacial 3-RPS Parallel manipulator for a Prescribed range of motion of Spherical joints “, J.nof
Mechanisms of Machne theory, vol.128,pp.815-819
• Stewart D (1965) .”A Platform with Six Degree of freedom”, Proc.inst.mech . Engg
,vol.180,NO.15,pp.371-386
• Younong Gong “ Design Analysis of a Stewart Platform for Vehicle Emulator Systems”
Massachusetts Institute of technology
15. • Xiaoyong Wu , Zhijiang Xie , Jorgen Asbol Kepler Shoping Bai work A Parametric model of 3 PPR
planar parallel manipulators for optimum shape design of platform
• Yangmin li and Qingsong Xu R F (2006), “Kinematic Analysis and Design of a New 3-Dof Translational
Parallel Manipulator”.J.of ASME,vol128,pp.729-737.
• Yuefa Fang and Lung –Wen Tsai R F (2004) , “structural synthesis of a class of 3-dof Rotational Parallel
Manipulaters”,J.OF IEEE,vol.20,pp.117-121.