Title :
Road spectrum replay system based on a 3-DOF parallel robot
Author :
Xiaolin, Dai ; Lei, Zhang
Author_Institution :
Sch. of Mechatron. Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China
Abstract :
A 3-DOF parallel robot is present here, which is the main component of a road spectrum replay system. The robot is a movement driver. So it must be heave loaded and high stiffness as the system is used for vehicle vibration test. A fresh structure of the robot with three rotational degrees of freedom is designed and implemented for the intended purpose. It is driven by three hydraulic actuators and restricted by three struts. This structure is similar as a standard Stewart platform but different in modeling and controlling process. To achieve high accuracy of road spectrum display performance, kinematics and dynamics of the robot is deduced and its control strategy is studied based on the analysis. Experiment result shows the designed system is proper for the simulation of vehicle vibration environment.
Keywords :
dynamic testing; hydraulic actuators; road traffic; robot dynamics; robot kinematics; 3-DOF parallel robot; fresh structure; hydraulic actuators; movement driver; road spectrum display performance; road spectrum replay system; robot dynamics; robot kinematics; vehicle vibration test; Equations; Kinematics; Mathematical model; Parallel robots; Roads; Parallel robot; control strategy; dynamics; kinematics; road spectrum replay;
Conference_Titel :
Computer Science and Information Processing (CSIP), 2012 International Conference on
Conference_Location :
Xi´an, Shaanxi
Print_ISBN :
978-1-4673-1410-7
DOI :
10.1109/CSIP.2012.6308866
