About this Journal Submit a Manuscript Table of Contents
Journal of Robotics
Volume 2011 (2011), Article ID 489695, 17 pages
http://dx.doi.org/10.1155/2011/489695
Research Article

Kineto-Elastodynamic Characteristics of the Six-Degree-of-Freedom Parallel Structure Seismic Simulator

Department of Mechatronics Engineering, Shantou University, Shantou City, Guangdong 515063, China

Received 19 January 2011; Revised 19 May 2011; Accepted 3 June 2011

Academic Editor: Yangmin Li

Copyright © 2011 Yongjie Zhao. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. http://www.mts.com/en/products/producttype/test-systems/simulation-systems/seismic-simulators/6-dof-custom/index.htm.
  2. M. Ceccarelli, E. Ottaviano, and M. Galvagno, “A 3-DOF parallel manipulator as earthquake motion simulator,” in Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision (ICARC '02), pp. 944–949, December 2002. View at Scopus
  3. M. Ceccarelli, E. Ottaviano, and G. Castelli, “An application of a 3-DOF parallel manipulator for earthquake simulations,” in Proceedings of the 22nd International Symposium on Automation and Robotics in Construction (ISARC '05), pp. 1–8, September 2005.
  4. Y. Zhao, F. Gao, W. Li, W. Liu, and X. Zhao, “Development of 6-dof parallel seismic simulator with novel redundant actuation,” Mechatronics, vol. 19, no. 3, pp. 422–427, 2009. View at Publisher · View at Google Scholar · View at Scopus
  5. J. P. Merlet, Parallel Robots, Springer, Dordrecht, The Netherlands, 2nd edition, 2006.
  6. L. W. Tsai, Robot Analysis, the Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, New York, NY, USA, 1999.
  7. Z. Huang, Y. F. Fang, and L. F. Kong, Theory of Parallel Robotic Mechanisms and Control, China Machine Press, Beijing, China, 1997.
  8. http://www-sop.inria.fr/coprin/equipe/merlet/merlet_eng.html.
  9. S. K. Dwivedy and P. Eberhard, “Dynamic analysis of flexible manipulators, a literature review,” Mechanism and Machine Theory, vol. 41, no. 7, pp. 749–777, 2006. View at Publisher · View at Google Scholar · View at Scopus
  10. Y. Zhao, F. Gao, X. Dong, and X. Zhao, “Elastodynamic characteristics comparison of the 8-PSS redundant parallel manipulator and its non-redundant counterpart-the 6-PSS parallel manipulator,” Mechanism and Machine Theory, vol. 45, no. 2, pp. 291–303, 2010. View at Publisher · View at Google Scholar · View at Scopus
  11. P. K. Subrahmanyan and P. Seshu, “Dynamics of a flexible five bar manipulator,” Computers & Structures, vol. 63, no. 2, pp. 283–294, 1997. View at Scopus
  12. J. A. Somolinos, V. Feliu, and L. Sánchez, “Design, dynamic modelling and experimental validation of a new three-degree-of-freedom flexible arm,” Mechatronics, vol. 12, no. 7, pp. 919–948, 2002. View at Publisher · View at Google Scholar · View at Scopus
  13. A. Fattah, J. Angeles, and A. K. Misra, “Dynamics of a 3-DOF spatial parallel manipulator with flexible links,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 627–632, Nagoya, Japan, May 1995. View at Scopus
  14. J. D. Lee and Z. Geng, “A dynamic model of a flexible stewart platform,” Computers & Structures, vol. 48, no. 3, pp. 367–374, 1993. View at Scopus
  15. B. Kang and J. K. Mills, “Dynamic modeling of structurally-flexible planar parallel manipulator,” Robotica, vol. 20, no. 3, pp. 329–339, 2002. View at Publisher · View at Google Scholar · View at Scopus
  16. X. Wang and J. K. Mills, “FEM dynamic model for active vibration control of flexible linkages and its application to a planar parallel manipulator,” Applied Acoustics, vol. 66, no. 10, pp. 1151–1161, 2005. View at Publisher · View at Google Scholar · View at Scopus
  17. G. Piras, W. L. Cleghorn, and J. K. Mills, “Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links,” Mechanism and Machine Theory, vol. 40, no. 7, pp. 849–862, 2005. View at Publisher · View at Google Scholar · View at Scopus
  18. X. Wang and J. K. Mills, “Dynamic modeling of a flexible-link planar parallel platform using a substructuring approach,” Mechanism and Machine Theory, vol. 41, no. 6, pp. 671–687, 2006. View at Publisher · View at Google Scholar · View at Scopus
  19. X. Zhang, J. K. Mills, and W. L. Cleghorn, “Dynamic modeling and experimental validation of a 3-PRR parallel manipulator with flexible intermediate links,” Journal of Intelligent & Robotic Systems, vol. 50, no. 4, pp. 323–340, 2007. View at Publisher · View at Google Scholar · View at Scopus
  20. Z. Zhou, J. Xi, and C. K. Mechefske, “Modeling of a fully flexible 3PRS manipulator for vibration analysis,” Journal of Mechanical Design, vol. 128, no. 2, pp. 403–412, 2006. View at Publisher · View at Google Scholar · View at Scopus
  21. Z. Zhou, C. K. Mechefske, and F. Xi, “Nonstationary vibration of a fully flexible parallel kinematic machine,” Journal of Vibration and Acoustics, vol. 129, no. 5, pp. 623–630, 2007. View at Publisher · View at Google Scholar · View at Scopus
  22. Y. Yun and Y. Li, “Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning,” Nonlinear Dynamics, vol. 61, no. 4, pp. 829–845, 2010. View at Publisher · View at Google Scholar · View at Scopus
  23. Y. Li and Q. Xu, “Dynamic modeling and robust control of a 3-PRC translational parallel kinematic machine,” Robotics and Computer-Integrated Manufacturing, vol. 25, no. 3, pp. 630–640, 2009. View at Publisher · View at Google Scholar · View at Scopus
  24. L. W. Tsai, “Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work,” Journal of Mechanical Design, vol. 122, no. 1, pp. 3–9, 2000. View at Publisher · View at Google Scholar · View at Scopus
  25. Y. Zhao and F. Gao, “Inverse dynamics of the 6-dof out-parallel manipulator by means of the principle of virtual work,” Robotica, vol. 27, no. 2, pp. 259–268, 2009. View at Publisher · View at Google Scholar · View at Scopus
  26. C. Zhang, Y. Q. Huang, Z. L. Wang, et al., Analysis and Synthesis of Elastic Mechanical Linkage, China Machine Press, Beijing, China, 2nd edition, 1997.
  27. Y. Q. Yu and Z. Li, Modern Dynamics of Machinery, Beijing University of Technology Press, Beijing, China, 1998.
  28. A. K. Chopra, Dynamics of Structures: Theory and Applications to Earthquake Engineering, Pearson Education Asia Limited and Tsinghua University Press, 2nd edition, 2001.