Zhao Xinhua

Study of Dynamic Transient Stability of a 2-Link Wheeled-Suspended Mobile Flexible Manipulator

This work studies the dynamic transient stability of a 2-link wheeled-suspended mobile flexible manipulator. The dynamic transient stability criterion is constructed based on the reacting forces and skidding resistance forces existing between the tires and the road surface. At last, Computation simulation results are presented to illustrate the study. This criterion is feasible to evaluate the transient dynamic stability and perform mutil-goal optimization of a mobile flexible manipulator with respect to a specified performance.

Study of dynamic characteristic of a wheeled suspension flexible mobile parallel manipulator based on multi-flexible-body dynamics

Since mobile flexible serial manipulators lack the incapability of precise positioning under the cases of high speed and heavy payload, the new configuration of a wheeled suspension flexible mobile parallel manipulator is presented. Based on multi-flexible-body dynamics, its dynamic model is formulated in Cartesian coordinate system with considering generality and integration of the modelling method. At last, in order to verify the effectiveness of the presented modeling method and the dynamic characteristics of the novel mobile manipulator, a comparative assessment of the dynamic models is validated through numeric simulations.

A study on less DOF parallel mechanism based on 3-RRRT parallel manipulator

In this paper, to exploring the less d.o.f parallel manipulator, the authors choose the 3-RRRT parallel manipulator as researching object, build a D-H coordinate system after reasonable analysis with the thought of virtual link, and then establish a mathematical model of kinematic by using the method of Homogeneous Coordinate Transformation. The direct and inverse solutions will be obtained by using the MATLAB software. At last, the solutions and the mathematical model will be proved right with PRO / E software.

Kinetic simulation of a 5-DOF wheeled suspension mobile manipulator

Based on multi-body dynamic, a systematical research on dynamic problem of 5 DOF wheeled suspension mobile manipulator was presented. By utilizing synthetically the Lagrange theory and Newton-Euler equation, the forward and inverse dynamics model was modeled in the Cartesian coordinate system. Finally by using the Matlab software, the differential equation of manipulators inverse dynamic model which was rewritten in the form of state space was solved.

Study of 3-RRRU Parallel Manipulator for its Dynamics Based on Method Kane

Focused on 3-RRRU parallel manipulator, this paper sets up its kinematic modeling through vector analysis. Then, velocity, angular velocity, partial velocity, partial angular velocity, acceleration, and angular acceleration are presented for every bar in every leg. Further, dynamic modeling of 3-RRRU parallel manipulator is established and analyzed under appropriate generalized coordinates. Finally, a numerical simulation example is given.

Modeling and Simulation of 3-RRRT Parallel Manipulator Based on MALTAB with SimMechanics

Based on the SimMechanics Toolbox of MATLAB, this paper introduces a method of simulation in researching 3-RRRT parallel manipulator. Through deeply studying fuzzy control theory, for overcoming the shortcomings and inadequacies of the PID control algorithm, a fuzzy adaptive supervisory algorithm is presented in this paper. The paper discusses how to use it to optimize the conventional PID controller, and to achieve more excellent control results. Firstly, a 3-RRRT parallel manipulator model is established by the SimMechanics in Matlab. Secondly, the manipulators fuzzy adaptive supervisory controller is built for the model. A simulation experiment is conducted to test the effect of the trajectory tracking through Matlab/SimMechanics. The simulation results demonstrate that the 3-RRRT parallel manipulator realizes the trajectory tracking with very good robustness to the parameter auto-adapted.