Motion planning of a novel 2-DOF parallel manipulator applied as driving simulator of the wheel loader

• Autorzy: Knapczyk J. , Tora G.

Identyfikatory

DOI

10.2478/ijame-2014-0041

• Języki publikacji: EN

Abstrakty

EN

A novel parallel manipulator with 3 legs (2 actuated by linear actuators and one supporting pillar),which is applied in a wheel loader driving simulator, is proposed in this paper. The roll angle and the pitch angle of the platform are derived in closed-form of functions of the variable lengths of two actuators. The linear velocity and acceleration of the selected point and angular velocity of the moving platform are determined and compared with measurement results obtained in the respective point and in the body of the wheel loader. The differences between the desired and actual actuator displacements are used as feedback to compute how much force to send to the actuators as some function of the servo error. A numerical example with a proposed mechanism as a driving simulator is presented.

Słowa kluczowe

EN

simulator; wheel loader driving; motion planning

PL

symulator; ładowarka kołowa; manipulator

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2014
• Tom: Vol. 19, no. 3
• Strony: 599--608
• Opis fizyczny: Bibliogr. 6 poz., rys., wykr.

Twórcy

autor

Knapczyk J.

• State Higher Vocational School in Nowy Sącz 33-300 Nowy Sącz, Staszica 1, POLAND

autor

Tora G.

• Cracow University of Technology 31-864 Cracow, Al. Jana Pawła II 37, POLAND

Bibliografia

• [1] Cervantes-Sanchez J.J., Rico-Martínez J.M., Pacheco-Gutiérrez S. and Cerda-Villafañ G. (2011): Static analysis of spatial parallel manipulators by means of the principle of virtual work. - Robotics and Computer-Integrated Manufacturing, vol.26, Elsevier.
• [2] Garrett N.J.I. and Best M.C. (2013): Model predictive driving simulator motion cueing algorithm with actuator-based constraints. - Vehicle System Dynamics, Taylor and Francis.
• [3] Lozia Z. (2008): Car Driving Simulator. - Warsaw: WKŁ.
• [4] Tora G. (2012): Modelling of a platform mechanism of an active suspension system for the cab in a heavy machine. - Monograph, Mechanics 416, Cracow 2012, Editorial Office Cracow University of Technology.
• [5] Tsai L.W. (2000): Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work. - Trans. ASME, Journal of Mechanical Design, vol.122.
• [6] Zhang C. and Zhang L. (2013): Kinematics analysis and workspace investigation of a novel 2-DOF parallel manipulator applied in vehicle driving simulator. - Robotics and Computer-Integrated Manufacturing 29, pp.113-120, Elsevier.