Cable Driven Spherical Mechanism Quadrosphere Enhanced by 3 DOF Piezo-actuated Platform

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F17%3A43950894" target="_blank" >RIV/49777513:23520/17:43950894 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21220/17:00320808

Výsledek na webu

<a href="http://multibody2017.cz/wp-content/uploads/2017/12/MBD2017_Conference_Proceedings_online.pdf" target="_blank" >http://multibody2017.cz/wp-content/uploads/2017/12/MBD2017_Conference_Proceedings_online.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Cable Driven Spherical Mechanism Quadrosphere Enhanced by 3 DOF Piezo-actuated Platform

Popis výsledku v původním jazyce

The paper deals with the optimization and control synthesis of multi-level mechanism based on cable/fibre driven spherical mechanism Quadrosphere. Multi-level means, that the mechanism consists of the main movable platform and at least one superimposed mechanism. The primary mechanism is considered as a parallel cable driven one, combining principles of parallel kinematics with the usage of cables/fibres/ropes/belts as links, which brings many advantages, namely the light-weight, large range of motion, possibility of anti-backlash operation, easy reconfiguration and even cheaper construction compared to mechanisms with traditional links. On the other hand the cables naturally limit these machines to the area of low frequencies, where the higher frequencies can be covered by the superimposed structure that provides smaller but fast components of requested motion. The presented idea is concretized for the experimental demonstrator of spherical mechanism Quadrosphere. It has been assembled and added by 6 DOF cubic truss created from piezoelectric stack actuators and carrying the secondary platform. The controllability of the platform motion has been tested for two variants of active truss positioning. The next step have been optimization, design and build of additional 3DOF platform fully tailored to the primary Quadrosphere mechanism. Mechanically amplified piezoactuators have been chosen for its actuation. Finally the control of multi-level mechanism using H∞ linear controller of fixed-order has been developed. The experiments with multi-level mechanism will be realized in the near future.

Název v anglickém jazyce

Cable Driven Spherical Mechanism Quadrosphere Enhanced by 3 DOF Piezo-actuated Platform

Popis výsledku anglicky

The paper deals with the optimization and control synthesis of multi-level mechanism based on cable/fibre driven spherical mechanism Quadrosphere. Multi-level means, that the mechanism consists of the main movable platform and at least one superimposed mechanism. The primary mechanism is considered as a parallel cable driven one, combining principles of parallel kinematics with the usage of cables/fibres/ropes/belts as links, which brings many advantages, namely the light-weight, large range of motion, possibility of anti-backlash operation, easy reconfiguration and even cheaper construction compared to mechanisms with traditional links. On the other hand the cables naturally limit these machines to the area of low frequencies, where the higher frequencies can be covered by the superimposed structure that provides smaller but fast components of requested motion. The presented idea is concretized for the experimental demonstrator of spherical mechanism Quadrosphere. It has been assembled and added by 6 DOF cubic truss created from piezoelectric stack actuators and carrying the secondary platform. The controllability of the platform motion has been tested for two variants of active truss positioning. The next step have been optimization, design and build of additional 3DOF platform fully tailored to the primary Quadrosphere mechanism. Mechanically amplified piezoactuators have been chosen for its actuation. Finally the control of multi-level mechanism using H∞ linear controller of fixed-order has been developed. The experiments with multi-level mechanism will be realized in the near future.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20302 - Applied mechanics

Projekt

<a href="/cs/project/GA15-20134S" target="_blank" >GA15-20134S: Vícestupňové lehké mechanismy s aktivními strukturami</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 8th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS 2017, MBD 2017

ISBN

978-80-01-06174-9

ISSN

2523-9589

e-ISSN

2523-9589

Počet stran výsledku

8

Strana od-do

551-557

Název nakladatele

Nakladatelství ČVUT (CTN), Zikova 1903/4, 166 36 Praha 6 - Dejvice

Místo vydání

Prague

Místo konání akce

Prague, Czech Republic

Datum konání akce

19. 6. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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