Autor:

Knapczyk, Józef ; Tora, Grzegorz

Współtwórca:

Jurczak, Paweł - red.

Tytuł:

Motion planning of a novel 2-DOF parallel manipulator applied as driving simulator of the wheel loader

Tytuł publikacji grupowej:

IJAME, volume 19 (2014)

Temat i słowa kluczowe:

simulator ; wheel loader driving ; motion planning

Abstract:

A novel parallel manipulator with 3 legs (2 actuated by linear actuators and one supporting pillar),which is applied in a wheel loader driving simulator, is proposed in this paper. The roll angle and the pitch angle of the platform are derived in closed-form of functions of the variable lengths of two actuators. The linear velocity and acceleration of the selected point and angular velocity of the moving platform are determined and compared with measurement results obtained in the respective point and in the body of the wheel loader. The differences between the desired and actual actuator displacements are used as feedback to compute how much force to send to the actuators as some function of the servo error. A numerical example with a proposed mechanism as a driving simulator is presented.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2014

Typ zasobu:

artykuł

Format:

application/pdf

DOI:

10.2478/ijame-2014-0041

Strony:

599-608

Źródło:

IJAME, volume 19, number 3 (2014)

Jezyk:

eng

Licencja:

CC 4.0

Licencja CC BY-NC-ND 4.0:

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Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego