Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism

Chuanyang Li; Zhongbao Qin; Changhua Hu; Rongqiang Liu; Ruiwei Liu; Xiaoke Song

doi:10.1007/978-981-19-9398-5_73

Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism

Chuanyang Li
, Zhongbao Qin
, Changhua Hu
, Rongqiang Liu^*
, Ruiwei Liu
, Xiaoke Song

^*Corresponding author for this work

School of Mechatronics Engineering

Rocket Force University of Engineering
Guangzhou Maritime University
East China Jiaotong University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system.

Original language	English
Title of host publication	Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022
Editors	Xinjun Liu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	1183-1193
Number of pages	11
ISBN (Print)	9789811993978
DOIs	https://doi.org/10.1007/978-981-19-9398-5_73
State	Published - 2023
Event	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 - Yantai, China Duration: 30 Jul 2022 → 1 Aug 2022

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022
Country/Territory	China
City	Yantai
Period	30/07/22 → 1/08/22

Keywords

Dynamics
Simulation
The 3-R(SRS)RP multi-loop mechanism

Access to Document

10.1007/978-981-19-9398-5_73

Cite this

Li, C., Qin, Z., Hu, C., Liu, R., Liu, R., & Song, X. (2023). Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism. In X. Liu (Ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022 (pp. 1183-1193). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-9398-5_73

@inproceedings{7b23ca5116f14ed6845828b652dc818a,

title = "Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism",

abstract = "The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system.",

keywords = "Dynamics, Simulation, The 3-R(SRS)RP multi-loop mechanism",

author = "Chuanyang Li and Zhongbao Qin and Changhua Hu and Rongqiang Liu and Ruiwei Liu and Xiaoke Song",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 ; Conference date: 30-07-2022 Through 01-08-2022",

year = "2023",

doi = "10.1007/978-981-19-9398-5\_73",

language = "英语",

isbn = "9789811993978",

series = "Lecture Notes in Mechanical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "1183--1193",

editor = "Xinjun Liu",

booktitle = "Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022",

address = "德国",

}

Li, C, Qin, Z, Hu, C, Liu, R, Liu, R & Song, X 2023, Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism. in X Liu (ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 1183-1193, 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022, Yantai, China, 30/07/22. https://doi.org/10.1007/978-981-19-9398-5_73

Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism. / Li, Chuanyang; Qin, Zhongbao; Hu, Changhua et al.
Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. ed. / Xinjun Liu. Springer Science and Business Media Deutschland GmbH, 2023. p. 1183-1193 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism

AU - Li, Chuanyang

AU - Qin, Zhongbao

AU - Hu, Changhua

AU - Liu, Rongqiang

AU - Liu, Ruiwei

AU - Song, Xiaoke

PY - 2023

Y1 - 2023

N2 - The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system.

AB - The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system.

KW - Dynamics

KW - Simulation

KW - The 3-R(SRS)RP multi-loop mechanism

UR - https://www.scopus.com/pages/publications/85163983273

U2 - 10.1007/978-981-19-9398-5_73

DO - 10.1007/978-981-19-9398-5_73

M3 - 会议稿件

AN - SCOPUS:85163983273

SN - 9789811993978

T3 - Lecture Notes in Mechanical Engineering

SP - 1183

EP - 1193

BT - Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022

A2 - Liu, Xinjun

PB - Springer Science and Business Media Deutschland GmbH

T2 - 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

Y2 - 30 July 2022 through 1 August 2022

ER -

Li C, Qin Z, Hu C, Liu R, Liu R, Song X. Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism. In Liu X, editor, Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 1183-1193. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-981-19-9398-5_73

Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this