An experimental study on the direct & indirect dynamic identification of an over-constrained 3-DOF decoupled parallel mechanism
| Autor: | Mehdi Tale Masouleh, Alaleh Arian, Mohammad Sharifzadeh, Ahmad Kalhor, Amir Salimi |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Polynomial Engineering business.industry Mechanical Engineering System identification Bioengineering 02 engineering and technology Kinematics Computer Science Applications Acceleration Identification (information) 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Mechanics of Materials Position (vector) Control theory Genetic algorithm Torque business |
| Zdroj: | Mechanism and Machine Theory. 116:178-202 |
| ISSN: | 0094-114X |
| DOI: | 10.1016/j.mechmachtheory.2017.05.021 |
| Popis: | This paper provides the state of the art of obtaining the dynamic model of an over-constrained 3-DOF translational parallel mechanism, namely, Tripteron, by performing system identification concept in which friction is taken into account. To this end, as the first step, in order to circumvent the problem of being over-constrained, i.e., inconsistent numbers of equations and unknown parameters in the dynamic model, some modifications on the kinematic arrangement of the constituted limbs are applied, in such a way that preserve the degrees-of-freedom performed by the mechanism under study, the so-called Tripteron with three translational degrees-of-freedom. Then, in order to have a close-to-reality dynamic model, the model is combined with the model of the linear module friction. Afterward, by using the practical data, the optimum values for the uncertain parameters of the inverse dynamic and friction models are obtained by a white-box identification approach based on Genetic algorithm. In addition, in order to propose a less complex model, a model based on the polynomial regressors of position, velocity, acceleration and applied torque of each axis is proposed. Finally, by proposing some criterion, the paper concludes by a comprehensive discussion on the performance of the obtained models. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect