Limit-protection Method for Workspace of a Parallel Power Head

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565 Prenosov
Izvoz citacije: ABNT
NI, Yanbing ;LU, Wenliang ;JIA, Shilei ;LU, Chenghao ;ZHANG, Ling  ;WEN, Yang .
Limit-protection Method for Workspace of a Parallel Power Head. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 68, n.9, p. 560-570, july 2022. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/limit-protection-method-for-workspace-of-a-parallel-power-head/>. Date accessed: 21 jul. 2024. 
doi:http://dx.doi.org/10.5545/sv-jme.2022.69.
Ni, Y., Lu, W., Jia, S., Lu, C., Zhang, L., & Wen, Y.
(2022).
Limit-protection Method for Workspace of a Parallel Power Head.
Strojniški vestnik - Journal of Mechanical Engineering, 68(9), 560-570.
doi:http://dx.doi.org/10.5545/sv-jme.2022.69
@article{sv-jmesv-jme.2022.69,
	author = {Yanbing  Ni and Wenliang  Lu and Shilei  Jia and Chenghao  Lu and Ling   Zhang and Yang  Wen},
	title = {Limit-protection Method for Workspace of a Parallel Power Head},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {9},
	year = {2022},
	keywords = {parallel power head; modelling; workspace analysis; position and pose judgment; limit-protection.; },
	abstract = {The position and pose of the end of 1T2R mechanism with one translational motion and two rotational degrees of freedom in the operation space is the nonlinear mapping of the servo motor action in the joint space, and the postures and states of the end of the mechanism can only be obtained through complex modeling calculation. Because of this, the key problem to be solved urgently is to realize the real-time and accurate limit protection function of this kind of structure machine tool, and to reduce the process and calculation amount of the position and pose judgment of the end of the mechanism. In this paper, a simplified algorithm for position and attitude judgment is proposed by analyzing the workspace of 1T2R mechanism. The position and attitude judgment of the terminal moving platform of the mechanism under any configuration can be realized only by summing up the length of three branch chains of the mechanism and calculating the difference. Further, the limit protection method of parallel power head based on this algorithm can be implemented based on the software and hardware conditions of the existing control system. It is easy to implement and has a small amount of calculation, which can further improve the safety of the operation of such structure machine tools.},
	issn = {0039-2480},	pages = {560-570},	doi = {10.5545/sv-jme.2022.69},
	url = {https://www.sv-jme.eu/sl/article/limit-protection-method-for-workspace-of-a-parallel-power-head/}
}
Ni, Y.,Lu, W.,Jia, S.,Lu, C.,Zhang, L.,Wen, Y.
2022 July 68. Limit-protection Method for Workspace of a Parallel Power Head. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 68:9
%A Ni, Yanbing 
%A Lu, Wenliang 
%A Jia, Shilei 
%A Lu, Chenghao 
%A Zhang, Ling  
%A Wen, Yang 
%D 2022
%T Limit-protection Method for Workspace of a Parallel Power Head
%B 2022
%9 parallel power head; modelling; workspace analysis; position and pose judgment; limit-protection.; 
%! Limit-protection Method for Workspace of a Parallel Power Head
%K parallel power head; modelling; workspace analysis; position and pose judgment; limit-protection.; 
%X The position and pose of the end of 1T2R mechanism with one translational motion and two rotational degrees of freedom in the operation space is the nonlinear mapping of the servo motor action in the joint space, and the postures and states of the end of the mechanism can only be obtained through complex modeling calculation. Because of this, the key problem to be solved urgently is to realize the real-time and accurate limit protection function of this kind of structure machine tool, and to reduce the process and calculation amount of the position and pose judgment of the end of the mechanism. In this paper, a simplified algorithm for position and attitude judgment is proposed by analyzing the workspace of 1T2R mechanism. The position and attitude judgment of the terminal moving platform of the mechanism under any configuration can be realized only by summing up the length of three branch chains of the mechanism and calculating the difference. Further, the limit protection method of parallel power head based on this algorithm can be implemented based on the software and hardware conditions of the existing control system. It is easy to implement and has a small amount of calculation, which can further improve the safety of the operation of such structure machine tools.
%U https://www.sv-jme.eu/sl/article/limit-protection-method-for-workspace-of-a-parallel-power-head/
%0 Journal Article
%R 10.5545/sv-jme.2022.69
%& 560
%P 11
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 68
%N 9
%@ 0039-2480
%8 2022-07-01
%7 2022-07-01
Ni, Yanbing, Wenliang  Lu, Shilei  Jia, Chenghao  Lu, Ling   Zhang, & Yang  Wen.
"Limit-protection Method for Workspace of a Parallel Power Head." Strojniški vestnik - Journal of Mechanical Engineering [Online], 68.9 (2022): 560-570. Web.  21 Jul. 2024
TY  - JOUR
AU  - Ni, Yanbing 
AU  - Lu, Wenliang 
AU  - Jia, Shilei 
AU  - Lu, Chenghao 
AU  - Zhang, Ling  
AU  - Wen, Yang 
PY  - 2022
TI  - Limit-protection Method for Workspace of a Parallel Power Head
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2022.69
KW  - parallel power head; modelling; workspace analysis; position and pose judgment; limit-protection.; 
N2  - The position and pose of the end of 1T2R mechanism with one translational motion and two rotational degrees of freedom in the operation space is the nonlinear mapping of the servo motor action in the joint space, and the postures and states of the end of the mechanism can only be obtained through complex modeling calculation. Because of this, the key problem to be solved urgently is to realize the real-time and accurate limit protection function of this kind of structure machine tool, and to reduce the process and calculation amount of the position and pose judgment of the end of the mechanism. In this paper, a simplified algorithm for position and attitude judgment is proposed by analyzing the workspace of 1T2R mechanism. The position and attitude judgment of the terminal moving platform of the mechanism under any configuration can be realized only by summing up the length of three branch chains of the mechanism and calculating the difference. Further, the limit protection method of parallel power head based on this algorithm can be implemented based on the software and hardware conditions of the existing control system. It is easy to implement and has a small amount of calculation, which can further improve the safety of the operation of such structure machine tools.
UR  - https://www.sv-jme.eu/sl/article/limit-protection-method-for-workspace-of-a-parallel-power-head/
@article{{sv-jme}{sv-jme.2022.69},
	author = {Ni, Y., Lu, W., Jia, S., Lu, C., Zhang, L., Wen, Y.},
	title = {Limit-protection Method for Workspace of a Parallel Power Head},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {9},
	year = {2022},
	doi = {10.5545/sv-jme.2022.69},
	url = {https://www.sv-jme.eu/sl/article/limit-protection-method-for-workspace-of-a-parallel-power-head/}
}
TY  - JOUR
AU  - Ni, Yanbing 
AU  - Lu, Wenliang 
AU  - Jia, Shilei 
AU  - Lu, Chenghao 
AU  - Zhang, Ling  
AU  - Wen, Yang 
PY  - 2022/07/01
TI  - Limit-protection Method for Workspace of a Parallel Power Head
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 68, No 9 (2022): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2022.69
KW  - parallel power head, modelling, workspace analysis, position and pose judgment, limit-protection., 
N2  - The position and pose of the end of 1T2R mechanism with one translational motion and two rotational degrees of freedom in the operation space is the nonlinear mapping of the servo motor action in the joint space, and the postures and states of the end of the mechanism can only be obtained through complex modeling calculation. Because of this, the key problem to be solved urgently is to realize the real-time and accurate limit protection function of this kind of structure machine tool, and to reduce the process and calculation amount of the position and pose judgment of the end of the mechanism. In this paper, a simplified algorithm for position and attitude judgment is proposed by analyzing the workspace of 1T2R mechanism. The position and attitude judgment of the terminal moving platform of the mechanism under any configuration can be realized only by summing up the length of three branch chains of the mechanism and calculating the difference. Further, the limit protection method of parallel power head based on this algorithm can be implemented based on the software and hardware conditions of the existing control system. It is easy to implement and has a small amount of calculation, which can further improve the safety of the operation of such structure machine tools.
UR  - https://www.sv-jme.eu/sl/article/limit-protection-method-for-workspace-of-a-parallel-power-head/
Ni, Yanbing, Lu, Wenliang, Jia, Shilei, Lu, Chenghao, Zhang, Ling , AND Wen, Yang.
"Limit-protection Method for Workspace of a Parallel Power Head" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 68 Number 9 (01 July 2022)

Avtorji

Inštitucije

  • Tianjin University, School of Mechanical Engineering, China 1
  • Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, China 2

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 68(2022)9, 560-570
© The Authors 2022. CC BY 4.0 Int.

https://doi.org/10.5545/sv-jme.2022.69

The position and pose of the end of 1T2R mechanism with one translational motion and two rotational degrees of freedom in the operation space is the nonlinear mapping of the servo motor action in the joint space, and the postures and states of the end of the mechanism can only be obtained through complex modeling calculation. Because of this, the key problem to be solved urgently is to realize the real-time and accurate limit protection function of this kind of structure machine tool, and to reduce the process and calculation amount of the position and pose judgment of the end of the mechanism. In this paper, a simplified algorithm for position and attitude judgment is proposed by analyzing the workspace of 1T2R mechanism. The position and attitude judgment of the terminal moving platform of the mechanism under any configuration can be realized only by summing up the length of three branch chains of the mechanism and calculating the difference. Further, the limit protection method of parallel power head based on this algorithm can be implemented based on the software and hardware conditions of the existing control system. It is easy to implement and has a small amount of calculation, which can further improve the safety of the operation of such structure machine tools.

parallel power head; modelling; workspace analysis; position and pose judgment; limit-protection.;