What is it about?

In this study, a d’Alembert-Newton model is used for extended dynamic analysis of a new constructive solution of a parallel mechanism. The dynamic model of a HEXA parallel mechanism has been developed using the above mentioned theory, and further, the dynamic inverse solution has been obtained. The numerical results were obtained using an original algorithm. This dynamic model allows the estimation of power absorbed by each actuator and also the loading control for each kinematic chain of the HEXA parallel mechanism. Knowing the variation of driving torque, for all the six actuators of the mechanism, allows the user to choose an optimal trajectory, such as avoiding excessive loading of a single kinematic chain.

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Why is it important?

Generality of the computational programs allows a better management of the energy plan of the mechanism and giving the final user possibility to choose an optimal trajectory that does not loads excessive a single kinematic chain.

Perspectives

The present study demonstrates the usefulness of the new algorithm based on the inverse dynamic model, in the case of a certain operation task. This dynamic model allows the estimation of power absorbed by each actuator and also the loading control for each kinematic chain of the HEXA parallel mechanism.

PhD Assist. Prof. Lucian Milica
Universitatea Dunarea de Jos din Galati

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This page is a summary of: A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model, Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics, November 2019, SAGE Publications, DOI: 10.1177/1464419319881305.
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