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Global dynamic modeling of electro-hydraulic 3-UPS/S parallel stabilized platform by bond graph

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Abstract

Dynamic modeling of a parallel manipulator(PM) is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

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Author information

Authors and Affiliations

  1. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, 066004, China

    Lijie Zhang & Fei Guo

  2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao, 066004, China

    Lijie Zhang, Fei Guo, Yongquan Li & Wenjuan Lu

  3. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, 066004, China

    Yongquan Li & Wenjuan Lu

Authors
  1. Lijie Zhang
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  2. Fei Guo
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  3. Yongquan Li
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  4. Wenjuan Lu
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Corresponding author

Correspondence to Lijie Zhang.

Additional information

Supported by National Natural Science Foundation of China(Grant Nos. 51275438, 51405421), and Hebei Provincial Natural Science Foundation of China(Grant No. E2015203101)

ZHANG Lijie, born in 1969, is currently a professor and a PhD supervisor at Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, China. His main research interests include robotics, fluid power transmission and control.

GUO Fei, born in 1986, is currently a PhD candidate on mechatronic engineering, Yanshan University, China. Her main research interests include performance analysis, dynamics and parameter identification of parallel manipulators.

LI Yongquan, born in 1979, is currently an associate professor and a master supervisor at Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, China. He received his PhD degree on mechatronic engineering, Yanshan University, China, in 2012. His main research interests include parallel mechanism and robotics.

LU Wenjuan, born in 1983, is currently a teacher at Yanshan University, China. She received her PhD degree from Yanshan University, China, in 2015. Her main research interests include type synthesis, overconstrained of parallel mechanism.

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Zhang, L., Guo, F., Li, Y. et al. Global dynamic modeling of electro-hydraulic 3-UPS/S parallel stabilized platform by bond graph. Chin. J. Mech. Eng. 29, 1176–1185 (2016). https://doi.org/10.3901/CJME.2016.0623.078

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  • DOI: https://doi.org/10.3901/CJME.2016.0623.078

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