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RISS 인기검색어
- 검색키워드
- 저자 : Xianlei Shan (검색결과 4 건)
- 무료
- 기관 내 무료
- 유료
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Static analysis on a 2(3PUS+S) parallel manipulator with two moving platforms
Xianlei Shan,Gang Cheng 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.8
The stiffness of a novel 2(3PUS+S) parallel manipulator with two moving platforms was investigated in this study. In the stiffness evaluation, the two moving platforms of the manipulator were driven through three linear modules and the load force on the drive joint was large. The corresponding parts of the two moving platforms were divided into independent subsystems and were integrated through a stiffness modeling method of a serial system to establish the overall stiffness model of the 2(3PUS+S) parallel manipulator. During modeling, elastic deformations on the joint lever and lead screw were involved, the joint lever was simplified as a supported beam, and the axial and torsional stiffness of the lead screw were considered. Numerical analysis on the established stiffness model was validated, and virtual experiments were conducted. Results indicate that the stiffness performance of the 2(3PUS+S) parallel manipulator changes with the variation of structural parameters and moving platform positions. To ensure the minimum stiffness under the required trajectory, the length of the joint lever and the ratio of the moving platform radius to the base platform should be appropriately reduced. Comparisons between the results from the numerical analysis and virtual experiments verified the accuracy of the established stiffness model.
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Singularity-free path optimization of the parallel test mechanism for artificial hip joints
Huizhen Zhang,Gang Cheng,Xianlei Shan,Yang Li 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.4
This paper focuses on the singularity-free optimization for the working path of a 3SPS+1PS type parallel mechanism which is used for the simulation of hip joint motion. Kinematic and dynamic models of the test mechanism were set up with the vector method and the principle of virtual power, respectively. Based on the Jacobian matrix, the kinematic and dynamic performance evaluation indices were defined. The working path of the test mechanism traverses the singular surface twice. Optimization weas conducted with the attitude of the virtual reference coordinate system as the design variable, the mean value of the motion transmission performance index and the mean value and the standard deviation of the driving force in the working path as the optimization objectives, and the reachable workspace as the constraint condition. The equivalent working path of the test mechanism after optimization had no singularity. Moreover, the motion transmission performance improved evidently and the driving force changed smoothly.
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Full closed loop‑based dynamic accuracy enhancement for elastic joints
Haitao Liu,Yan Wang,Xianlei Shan 전력전자학회 2022 JOURNAL OF POWER ELECTRONICS Vol.22 No.6
Owing to the elasticity of transmission systems, actuated joints suff er from dynamic errors that seriously aff ect the tracking accuracy. Mainly drawing on the full closed loop control strategy, this paper focuses on the dynamic accuracy enhancement of elastic joints. Having proposed a simplifi ed dynamic error modelling method for elastic joints with cascade control, an analytical dynamic error model of the servo drive system is built, allowing the revelation of the infl uence mechanisms of semi- and full closed loop control schemes on dynamic errors. The dynamic error model indicates that a full closed loop control scheme with a large position loop gain can eff ectively reduce the elasticity-caused dynamic error. To overcome the strict limitation on the position loop gain of traditional full closed loop control, an additional speed feedback is used to improve the dynamic error reduction capability. Experimental results show that the dynamic error can be dramatically reduced, resulting in a remarkable improvement of tracking accuracy of elastic joints.
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Linear active disturbance rejection control with torque compensation for electric load simulator
Liu, Haitao,Liu, Huarong,Shan, Xianlei The Korean Institute of Power Electronics 2021 JOURNAL OF POWER ELECTRONICS Vol.21 No.1
This study proposes a design of an inner control loop for the load torque control of an electric load simulator (ELS), which is specifically designed to simulate load torque (i.e., load) for mechanical equipment. By mainly drawing on linear active disturbance rejection control, a mechatronic model-based inner loop controller of ELS is designed using measured torque to reduce the complexity of the estimator. A phase-locked loop observer is introduced to suppress the negative effects of the measurement error, thereby resulting in good performance for surplus torque suppression and the dynamic behavior of the control system. Simulations and experiments on a prototype machine are performed to verify the effectiveness of the proposed control method.
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