Tripod Dynamics and Its Inertia Effect-Reference-Cited by-同舟云学术

Tripod Dynamics and Its Inertia Effect

Published:2005-01-01 Issue:1 Volume:127 Page:144-149
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Xi Fengfeng¹,Angelico and Ottavio²,Sinatra Rosario²

Affiliation:

1. Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada

2. Dipartmento di Ingegneria Industriale e Meccanica, Universita di Catania, Viale A. Doria 6, 95125 Catania, Italy

Abstract

In this paper the tripod dynamics and its inertia effect is studied. The tripod design is becoming popular for the development of parallel kinematic machines (PKMs). The combination of a tripod with a gantry system forms a hybrid machine that offers the advantages from both serial and parallel structures. The tripod dynamics under study includes the mass of the moving platform as well as those of the legs. The natural orthogonal complement method is applied to derive the dynamic equations. The inertia effect of the moving platform and the legs is investigated in terms of two parameters, namely, the ratio of the total leg mass to the mass of the moving platform, and the velocity of the moving platform. The dynamic equations are separated by three terms, inertia, coupling, and gravity. Quantitative studies are carried out by simulation to examine how the two parameters affect the three respective terms. Based on the simulation results, the dynamic equations can be simplified by retaining the dominant terms while neglecting less significant ones. The simplified dynamic equations provide an efficient model for design and control of tripods.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/127/1/144/5684535/144_1.pdf

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