Wen Rui

Closed-form Dynamic Equations of the 6-RSS Parallel Mechanism through the Newton-Euler Approach

The 6-RSS parallel robot is a parallel manipulator whose mobile platform has 6 DOF. In order to construct a complete dynamic model of 6-RSS parallel manipulator, a serial of coordinates on components were defined with D-H method and a kinematics analysis on a single chain was carried out. As a result, closed-form equations for the inverse kinematics and velocity and acceleration transformations from joint space to task space are given. The dynamics model of 6-RSS parallel mechanism is deduced based on the platform, as an example, the driving moment curves for circumferential translation are drawn. The paper’s work establishes the basis for dynamics analysis of mechanism with this type.

Active Vibration Isolation of 6-RSS Parallel Mechanism Using Integrated Force Feedback Controllor

This paper studies the design and control problems of a class multiple DOF vibration isolation systems. For the controller design, the dynamics model of 6-RSS parallel mechanism can be represented in state-space form. Based on the model of the mechanism, two different kinds of feedback control strategies are applied and compared for the active vibration control of the 6-RSS parallel mechanism. One is active vibration damping, which can enhance the structural damping of the control system and thus damp out the vibration faster, which is dissipative control and Integrated Force Feedback control. The other group is the model-based feedback control, which can keep a control variable to a desired value in spite of the presence of disturbances, which is the linear quadratic Gaussian (LQG-based) controllers. The performance of the different kinds of controllers is compared by simulation result.