A study on vibrations of hexarot-based high-G centrifugal simulators

Pedrammehr, Siamak, Asadi, Houshyar and Nahavandi, Saeid 2020, A study on vibrations of hexarot-based high-G centrifugal simulators, Robotica, vol. 38, no. 2, pp. 299-316, doi: 10.1017/S0263574719000602.

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Title A study on vibrations of hexarot-based high-G centrifugal simulators
Author(s) Pedrammehr, SiamakORCID iD for Pedrammehr, Siamak orcid.org/0000-0002-2974-1801
Asadi, HoushyarORCID iD for Asadi, Houshyar orcid.org/0000-0002-3620-8693
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Journal name Robotica
Volume number 38
Issue number 2
Start page 299
End page 316
Total pages 18
Publisher Cambridge University Press
Place of publication Cambridge, Eng.
Publication date 2020-02
ISSN 0263-5747
1469-8668
Keyword(s) Science & Technology
Technology
Robotics
Parallel mechanism
Hexarot
Simulator
Dynamics
Vibrations
Virtual work principle
INVERSE DYNAMICS
STEWART PLATFORMS
MANIPULATOR
STABILITY
PRINCIPLE
DESIGN
Summary This paper investigates the vibrations of hexarot simulators. The generalized modeling of kinematics and dynamics formulation of a hexarot mechanism is addressed. This model considers the flexible manipulator with the base motion. The dynamic formulation has been developed based on the principle of virtual work. The dynamic model consists of the stiffness of the different parts of the mechanism, the effects of gravity and inertia, torque and force related to the joints viscous friction. Finally, the response of the end effector at various frequencies has been presented, and the vibrations of the mechanism and the dynamic stability index have been investigated.
Language eng
DOI 10.1017/S0263574719000602
Indigenous content off
Field of Research 0801 Artificial Intelligence and Image Processing
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
HERDC Research category C1 Refereed article in a scholarly journal
Persistent URL http://hdl.handle.net/10536/DRO/DU:30122372

Document type: Journal Article
Collection: Institute for Intelligent Systems Research and Innovation (IISRI)
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