0
Research Papers

Dynamic Modeling and Analysis of a Circular Track-Guided Tripod

[+] Author and Article Information
Yuwen Li, Allan Daniel Finistauri, Kamran Behdinan

Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada

Fengfeng Xi1

Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, M5B 2K3, Canadafengxi@ryerson.ca

1

Corresponding author.

J. Comput. Nonlinear Dynam 5(1), 011005 (Nov 12, 2009) (10 pages) doi:10.1115/1.4000313 History: Received August 18, 2008; Revised February 10, 2009; Published November 12, 2009; Online November 12, 2009

To enlarge the workspace and improve the motion capability of a parallel robot, the base of the robot can be guided to move along a linear or curved track. This paper aims at analyzing how the motion of the base affects the dynamics of a parallel robot. For this purpose, kinematic and dynamic equations are developed for a circular track-guided tripod parallel robot. For kinematics, the motion of the base is incorporated into the analytical formulations of the position and velocity of the tripod. For dynamics, equations of motion are derived using the Lagrangian formulation, and influence factors are defined to provide a quantitative means to measure the effects of the velocity and acceleration of the base on the actuator forces of the tripod. As an application of the above method, a circular track-guided tripod is proposed for the automatic riveting in the assembly of an aircraft fuselage. Simulation studies are carried out to investigate the tripod dynamics. It is found that the motion of the base has a strong impact on the actuator forces. The dynamic model provides a useful tool for the design and control of the circular track-guided tripod.

FIGURES IN THIS ARTICLE
<>
Copyright © 2010 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 9

Actuator forces on the legs (ΔT=0.6 s)

Grahic Jump Location
Figure 10

Actuator forces on the legs (ΔT=0.3 s)

Grahic Jump Location
Figure 11

Actuator forces related to acceleration (ΔT=0.3 s)

Grahic Jump Location
Figure 12

Actuator forces related to velocity (ΔT=0.3 s)

Grahic Jump Location
Figure 7

Time histories of generalized coordinates

Grahic Jump Location
Figure 8

Actuator forces on the legs (ΔT=1.2 s)

Grahic Jump Location
Figure 1

Tripod for automatic riveting of aircraft fuselage

Grahic Jump Location
Figure 2

Circular track-guided tripod

Grahic Jump Location
Figure 3

Legs of the tripod

Grahic Jump Location
Figure 4

Influence factors

Grahic Jump Location
Figure 5

Gravitational force term: (G¯1+G¯2+G¯3)/3

Grahic Jump Location
Figure 6

Fuselage cross section

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In