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

fYear

2012

fDate

24-26 Aug. 2012

Firstpage

350

Lastpage

354

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Information Processing (CSIP), 2012 International Conference on

Conference_Location

Xi´an, Shaanxi

Print_ISBN

978-1-4673-1410-7

Type

conf

DOI

10.1109/CSIP.2012.6308866

Filename

6308866