Comparison between 3 and 8 Leg 6-DOF shake table

Author

Gupta, Naveen Kumar ; Ganesh, M. ; Dash, Anjan Kumar

Author_Institution

Sch. of Mech. Eng., SASTRA Univ., Tirumalaisamudram, India

fYear

2015

fDate

18-20 Feb. 2015

Firstpage

1

Lastpage

6

Abstract

The earthquakes are a constant risk on human lives and costly structures. To reduce loss, structures are tested for their resistance to earthquake. However, a 6-DOF seismic simulator (UPS-leg) having the existing design of eight actuators (four vertical actuators, two actuators each along X and Y axes) is very costly to afford. In this paper, an alternate design of shake table (3-legged RPRS 6-DOF, by 6 active actuators) is proposed for investigation having better motion capability, higher payload carrying capacity, ease in control, redundant, decoupled motion and at lower cost. To make a meaningful comparison between the two manipulators we choose stiffness parameters.

Keywords

actuators; earthquake engineering; legged locomotion; manipulators; 3 leg 6-DOF shake table; 3-legged RPRS 6-DOF; 6-DOF seismic simulator; 8 leg 6-DOF shake table; UPS-leg; active actuators; earthquake resistance; earthquakes; manipulators; motion capability; payload carrying capacity; stiffness parameters; structure testing; vertical actuators; Actuators; Automation; Fasteners; Generators; Joints; Kinematics; Robots; DOF; RPRS; UPS; actuators; decoupled motion; redundant; shake table; simulators; stiffness; workspace;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation, Control and Embedded Systems (RACE), 2015 International Conference on

Conference_Location

Chennai

Type

conf

DOI

10.1109/RACE.2015.7097233

Filename

7097233