Bond graph modeling and simulating of 3 RPR planar parallel manipulator

Chen Yin, Shengqi Jian, Md. Hassan Faghih, Md. Toufiqul Islam, Luc Rolland

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A 3-RPR planar parallel robot is a kind of planar mechanisms, which can work at high speed, with high accuracy and high rigidity. In this paper, a multi-body bond graph system will be built for the 3-RPR planar parallel manipulator (PPM), along with 3 PID controllers which give commands to 3 DC motors respectively. The advantage of bond graphs is that they can integrate different types of dynamics systems, the manipulator, the control and the motor can be modelled and simulated altogether in the same process. Bond graph will be established for each rigid body with body-fixed coordinate’s reference frames, which are connected with parasitic elements (damping and compliance) to each other. The PID set-point signals are generated by the explicit inverse kinematic equations. The 3 prismatic lengths constitute the measured feedback signals. In order to make the end-effector reach the ideal position with target orientation, the three links should reach the target lengths simultaneously. In this study, the dynamics simulation of 3-RPR PPM is conducted after building the bond graph system. As the 3 motors are working simultaneously and independently, the end-effector will arrive to the expected position. Finally, the bond graph and control system are validated with the compiled results and 3D animation. Force plot and torque plot will be generated as dynamics performance. Moreover, kinematics of manipulators are also calculated using bond graph. Eventually, bond graphs are shown to be effective in solving not only dynamic but also kinematic problems.
Original languageEnglish
Title of host publicationASME 2014 International Mechanical Engineering Congress and Exposition
Subtitle of host publicationDynamics, Vibration, and Control
PublisherASME
Number of pages6
Volume4B
ISBN (Print)978-0-7918-4648-3
DOIs
Publication statusPublished - 2014
Externally publishedYes

Fingerprint

Manipulators
End effectors
Kinematics
Inverse kinematics
DC motors
Animation
Rigidity
Dynamical systems
Torque
Damping
Robots
Feedback
Control systems
Controllers
Computer simulation

Keywords

  • modeling
  • manipulators

Cite this

Yin, C., Jian, S., Faghih, M. H., Islam, M. T., & Rolland, L. (2014). Bond graph modeling and simulating of 3 RPR planar parallel manipulator. In ASME 2014 International Mechanical Engineering Congress and Exposition: Dynamics, Vibration, and Control (Vol. 4B). [IMECE2014-38601] ASME. https://doi.org/10.1115/IMECE2014-38601
Yin, Chen ; Jian, Shengqi ; Faghih, Md. Hassan ; Islam, Md. Toufiqul ; Rolland, Luc. / Bond graph modeling and simulating of 3 RPR planar parallel manipulator. ASME 2014 International Mechanical Engineering Congress and Exposition: Dynamics, Vibration, and Control. Vol. 4B ASME, 2014.
@inproceedings{89727bc7636c48bf9afa3af6ba88f488,
title = "Bond graph modeling and simulating of 3 RPR planar parallel manipulator",
abstract = "A 3-RPR planar parallel robot is a kind of planar mechanisms, which can work at high speed, with high accuracy and high rigidity. In this paper, a multi-body bond graph system will be built for the 3-RPR planar parallel manipulator (PPM), along with 3 PID controllers which give commands to 3 DC motors respectively. The advantage of bond graphs is that they can integrate different types of dynamics systems, the manipulator, the control and the motor can be modelled and simulated altogether in the same process. Bond graph will be established for each rigid body with body-fixed coordinate’s reference frames, which are connected with parasitic elements (damping and compliance) to each other. The PID set-point signals are generated by the explicit inverse kinematic equations. The 3 prismatic lengths constitute the measured feedback signals. In order to make the end-effector reach the ideal position with target orientation, the three links should reach the target lengths simultaneously. In this study, the dynamics simulation of 3-RPR PPM is conducted after building the bond graph system. As the 3 motors are working simultaneously and independently, the end-effector will arrive to the expected position. Finally, the bond graph and control system are validated with the compiled results and 3D animation. Force plot and torque plot will be generated as dynamics performance. Moreover, kinematics of manipulators are also calculated using bond graph. Eventually, bond graphs are shown to be effective in solving not only dynamic but also kinematic problems.",
keywords = "modeling, manipulators",
author = "Chen Yin and Shengqi Jian and Faghih, {Md. Hassan} and Islam, {Md. Toufiqul} and Luc Rolland",
year = "2014",
doi = "10.1115/IMECE2014-38601",
language = "English",
isbn = "978-0-7918-4648-3",
volume = "4B",
booktitle = "ASME 2014 International Mechanical Engineering Congress and Exposition",
publisher = "ASME",
address = "United States",

}

Yin, C, Jian, S, Faghih, MH, Islam, MT & Rolland, L 2014, Bond graph modeling and simulating of 3 RPR planar parallel manipulator. in ASME 2014 International Mechanical Engineering Congress and Exposition: Dynamics, Vibration, and Control. vol. 4B, IMECE2014-38601, ASME. https://doi.org/10.1115/IMECE2014-38601

Bond graph modeling and simulating of 3 RPR planar parallel manipulator. / Yin, Chen; Jian, Shengqi; Faghih, Md. Hassan; Islam, Md. Toufiqul; Rolland, Luc.

ASME 2014 International Mechanical Engineering Congress and Exposition: Dynamics, Vibration, and Control. Vol. 4B ASME, 2014. IMECE2014-38601.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Bond graph modeling and simulating of 3 RPR planar parallel manipulator

AU - Yin, Chen

AU - Jian, Shengqi

AU - Faghih, Md. Hassan

AU - Islam, Md. Toufiqul

AU - Rolland, Luc

PY - 2014

Y1 - 2014

N2 - A 3-RPR planar parallel robot is a kind of planar mechanisms, which can work at high speed, with high accuracy and high rigidity. In this paper, a multi-body bond graph system will be built for the 3-RPR planar parallel manipulator (PPM), along with 3 PID controllers which give commands to 3 DC motors respectively. The advantage of bond graphs is that they can integrate different types of dynamics systems, the manipulator, the control and the motor can be modelled and simulated altogether in the same process. Bond graph will be established for each rigid body with body-fixed coordinate’s reference frames, which are connected with parasitic elements (damping and compliance) to each other. The PID set-point signals are generated by the explicit inverse kinematic equations. The 3 prismatic lengths constitute the measured feedback signals. In order to make the end-effector reach the ideal position with target orientation, the three links should reach the target lengths simultaneously. In this study, the dynamics simulation of 3-RPR PPM is conducted after building the bond graph system. As the 3 motors are working simultaneously and independently, the end-effector will arrive to the expected position. Finally, the bond graph and control system are validated with the compiled results and 3D animation. Force plot and torque plot will be generated as dynamics performance. Moreover, kinematics of manipulators are also calculated using bond graph. Eventually, bond graphs are shown to be effective in solving not only dynamic but also kinematic problems.

AB - A 3-RPR planar parallel robot is a kind of planar mechanisms, which can work at high speed, with high accuracy and high rigidity. In this paper, a multi-body bond graph system will be built for the 3-RPR planar parallel manipulator (PPM), along with 3 PID controllers which give commands to 3 DC motors respectively. The advantage of bond graphs is that they can integrate different types of dynamics systems, the manipulator, the control and the motor can be modelled and simulated altogether in the same process. Bond graph will be established for each rigid body with body-fixed coordinate’s reference frames, which are connected with parasitic elements (damping and compliance) to each other. The PID set-point signals are generated by the explicit inverse kinematic equations. The 3 prismatic lengths constitute the measured feedback signals. In order to make the end-effector reach the ideal position with target orientation, the three links should reach the target lengths simultaneously. In this study, the dynamics simulation of 3-RPR PPM is conducted after building the bond graph system. As the 3 motors are working simultaneously and independently, the end-effector will arrive to the expected position. Finally, the bond graph and control system are validated with the compiled results and 3D animation. Force plot and torque plot will be generated as dynamics performance. Moreover, kinematics of manipulators are also calculated using bond graph. Eventually, bond graphs are shown to be effective in solving not only dynamic but also kinematic problems.

KW - modeling

KW - manipulators

U2 - 10.1115/IMECE2014-38601

DO - 10.1115/IMECE2014-38601

M3 - Conference contribution

SN - 978-0-7918-4648-3

VL - 4B

BT - ASME 2014 International Mechanical Engineering Congress and Exposition

PB - ASME

ER -

Yin C, Jian S, Faghih MH, Islam MT, Rolland L. Bond graph modeling and simulating of 3 RPR planar parallel manipulator. In ASME 2014 International Mechanical Engineering Congress and Exposition: Dynamics, Vibration, and Control. Vol. 4B. ASME. 2014. IMECE2014-38601 https://doi.org/10.1115/IMECE2014-38601