New Master Thesis Defense140.130.17.58/rd/Final report_Cao Sang.pdf · 2017. 6. 30. · Dynamic...

Dynamic Analysis and Control of HydraulicMachine System and Industrial Robotic Manipulator

氣液壓機械系統和工業機器人的動力學分析與控制

Department of Power Mechanical Engineering

Institute of Mechanical and Electro-Mechanical Engineering

National Formosa University

Master Thesis Defense

Graduate Student: TRAN CAO SANG（陳高創）

Advisor: Yunn-Lin Hwang

Co-Advisor: Jeng-Haur Horng

Chapter 1: Introduction

Chapter 2: Software and Hardware

Chapter 3: Applied Theories

Chapter 4: Numerical Application

Chapter 5: Trajectory Planning of Industrial Robot

Chapter 6: Experimental Results

Chapter 7: Conclusions and Future Works

Outline

Hydraulic Systems Industrial Robotic Arms

CNC machine Car - pendulum

Applied Theories

Simulation Results

Applied Theories

Simulation Results

3DOF Robotic Arm 6DOF Robotic Arm

Applied Theories

Simulation Results

Applied Theories

Experimental results

Experimental Results

Outline

Hydraulic Systems

CNC Machine Car - Pendulum

CNC machine

1. How to create the hydraulic controller for this machine?

2. How to control the machine with trajectory planning ?

3. How about connection between hydraulic controller and model ?

Hydraulic Systems

Hydraulic Systems - How to create the hydraulic controller for this machine?

( ) 1 1 2 2. . . .sin( ) . . .cos( ) .exF f p A p A m g m g v visc

1 1 2 2. . . . .F p A p A m g v visc

Ox

y

2

1

.

4

pistondiamA

2 2

2

.

4

piston roddiam diamA

..F mx


1 1 2 2. . . . .F p A p A m g v visc


Interface between AMESim and RecurDyn

Hydraulic Systems - How about connection ?

In this case, I am going to draw the circle

and compare with two methods.

Hydraulic Systems - CNC Machine - Simulation Results

Control without Trajectory

Planning Equation

Control with Trajectory

Planning Equation


The displacement trace on working table Displacement of working table


Figure 27. Displacement signals of second cylinder - X axis Figure 28. Displacement signal of third cylinder - Z axis

Hydraulic Systems – Car-Pendulum

Questions

How do we do this thing?

How do we calculate that force?

If we got that formula, How do

we use it to control ?


𝐿 = 𝑇𝑐𝑎𝑟 + 𝑇𝑝𝑒𝑛𝑑𝑢𝑙𝑢𝑚 − 𝑉𝑐𝑎𝑟 − 𝑉𝑝𝑒𝑛𝑑𝑢𝑙𝑢𝑚

𝐿 = 𝑇 − 𝑉

Kinetic EnergyPotential Energy

Using Euler- Lagrange Equation : 𝑚𝑙 ሷ𝜃 − 𝑚𝑙cos𝜃 ሷ𝑥 + 𝑚𝑔𝑙sin𝜃 = 0

𝑀 +𝑚 ሷ𝑥 − 𝑚𝑙cos𝜃 ሷ𝜃 + 𝑚𝑙sin𝜃 ሶ𝜃2 = 𝐹 − 𝑏 ሶ𝑥

0 0

0

ml ml mgl

ml M m bx Fx

&&

&&&

2sin ,cos 1, 0 &linear


Formula

0 0

0

ml ml mgl

ml M m bx Fx

&&

&&&


Hydraulic Components

7o

The results and simulation

Hydraulic Systems – Car-Pendulum – Simulation Results

Industrial Robotic Arms

4 axes Robotic arm

6 DOF Robotic arm

Industrial Robotic Manipulator – 3DOF(4 Axes)

Life, Science, Biology Pick and Place


Draw, Painting Gripper

Where do we

start from ?

How do we control

that kinds of robot ?


What is

input ?

What is

output ? Which softwares

are useful things ?

Questions….?

Xa, Ya, Za

Industrial Robotic Manipulator – 3DOF(4 Axes) - Analysis

Servo 1, Servo 2,Servo 3, Servo 4

Input

Output

Processing (Calculation)

d1

a2

a1

a3

d1,a1,a2,a3 are given

Industrial Robotic Manipulator – 3DOF(4 Axes) - Analysis

Industrial Robotic Manipulator – 3DOF(4 Axes) - Solutions

d1,a1,a2,a3 are given

Xa, Ya, Za are input from user

Industrial Robotic Manipulator – 3DOF(4 Axes) - Interface

C/C++ language*DLL filesProgram

Input formulas to RecurDyn for simulation

Create the formulas in C language

Industrial Robotic Manipulator – 3DOF(4 Axes) - Interface

C language

MPLAB Software DSPIC development KitServo motors

PWM

Industrial Robotic Manipulator – 3DOF(4 Axes) - Results

Simulation in RecurDyn Experimental Results

Industrial Robotic Manipulator – 6DOF


Xa, Ya, Za,

Phi, Theta, Psi

Dynamixel servo motor 1, …,

Dynamixel servo motor 10.

Input

Output

Processing (Calculation)


d1

a1 a2

a3

d6

Dimensions ( d1, a1, a2, a3, d6 ) are given


The solutions for first three

revolute joints should be the

same 3DOF robotic arm’s

solution what we got at

previous slides

Dimensions ( d1, a1, a2, a3, d6 ) are given3DOF robotic manipulator

2

5 1 13 1 23 1 13 1 23tan , 1 ( )A s r c r s r c r


4 1 23 13 1 23 23 23 33 1 23 13 1 23 23 23 33tan ,A c c r s c r s r c s r s s r c r

6 1 11 1 21 1 12 1 22tan ,A s r c r s r c r

3.2.3. Inverse kinematics

Solutions for this case should be rewritten :


AVR Studio software

Communicator

Electric control circuit using AVR microcontroller

Solutions

Industrial Robotic Manipulator – 6DOF – Experimental Results

Straight Line Circle

Gripper in 6DOF

Initial position of bottle:

B(0.13,0.13,0.05,-30,90,-45)

Target position of bottle:

B’(0.23,-0.17,0.3,-90,0,0)

X Y Z

Industrial Robotic Manipulator – 6DOF – Experimental Result Video

General Results

1. Deriving formulas to control hydraulic cylinders

2. Establishing the procedure for interface between AEMSim and RecurDyn

3. Solving the balancing problem by using Euler-Lagrange equation

4. Building, feedback controlling interface between two softwares making the

simulation

5. Figure out the solution for 3DOF robotic arm

6. Program formulas in C language

7. Take simulation on RecurDyn

8. Done the experimental results

9. Solving the solutions of inverse kinematic for 6 DOF robotic manipulator

10. Program formulas in C language

11. Done the experimental results

CNC machine

Car - pendulum

3DOF robotic arm

6DOF robotic arm

Industrial Robot – 6DOF – Related work – 3DOF Industrial Robot

Industrial Robot – 6DOF – Related work – Hexapod model

Related work – Partical Dynamic Simulation Fluid

Application

Simulation ResultSimulation Result

New Master Thesis Defense140.130.17.58/rd/Final report_Cao Sang.pdf · 2017. 6. 30. · Dynamic...

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