Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Simulation and experimental validation of the dynamic modeling of a 3-RPR mechanism using power flow approach
Submission Author:
Allan Nogueira de Albuquerque , RJ
Co-Authors:
Mauro Speranza Neto, Marco Antonio Meggiolaro, Allan Nogueira de Albuquerque
Presenter: Allan Nogueira de Albuquerque
doi://10.26678/ABCM.COBEM2017.COB17-2116
Abstract
Mechanisms are essentially made up of multiple rigid bodies that have relative motion between themselves. Each body is connected through a joint to one or more bodies, wherein the sequence of connected bodies is called kinematic chain. Open kinematic chains have no restrictions on their ends, as closed chains have restrictions on both ends. The focus in this work will be given on the study of mechanisms with closed kinematic chains. Thus, this work presents the analytical form determination of the dynamic model of a parallel planar mechanism with three degrees of freedom through the characterization of the power flow between its components. Considering the power flow between the degrees of freedom, and also between these and the actuating elements (linear electric actuators) the equilibrium relations of the forces and torques are obtained. Accounting for inertial effects of system components, the stiffness and damping effects, the equations of motion are analytically determined. Besides, the relation between the inverse kinematics and the direct dynamics is presented. The proposed methodology is generalized and applicable in any type of mechanism. A set of simulations are performed to validate this approach using the real data from a planar mechanism designed and built especially for the purpose to compare the simulated and experimental results. This comparison validates the dynamic model and the analytical equations lead to a more efficient simulation process and real-time control of these systems. Finally, a closed-loop control strategy using the inverse kinematic and the direct dynamic models is proposed.
Keywords
Parallel Mechanisms, Inverse Kinematics, Direct Dynamics, Power Flow, Bond Graphs
