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. Attached Files Name Description MIMEType Size Downloads Title A study on vibrations of hexarot-based high-G centrifugal simulators Author(s) Pedrammehr, Siamak orcid.org/0000-0002-2974-1801 Asadi, Houshyar orcid.org/0000-0002-3620-8693 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) Related Links Link Description Connect to published version Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Fri, 31 May 2019, 11:20:08 EST Fri, 31 May 2019, 11:43:13 EST Fri, 31 May 2019, 11:44:57 EST Fri, 31 May 2019, 11:47:41 EST Mon, 03 Jun 2019, 08:26:37 EST Sat, 15 Jun 2019, 02:32:28 EST Sat, 01 Feb 2020, 01:30:16 EST Tue, 23 Jun 2020, 06:02:50 EST Tue, 30 Jun 2020, 13:36:15 EST Tue, 30 Jun 2020, 13:38:11 EST Tue, 30 Jun 2020, 13:38:52 EST Filtered Full Citation counts:   Cited 1 times in TR Web of Science Cited 2 times in Scopus Search Google Scholar Access Statistics: 42 Abstract Views, 1 File Downloads  -  Detailed Statistics Created: Fri, 31 May 2019, 11:20:08 EST

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