Forward Kinematics Analysis of the Spindle-Coupled Road Simulator with Modified Newton-Raphson Algorithm

被引：0

作者：

Wang, Xiao ^{[1
]}

Zhang, Yanyan ^{[1
]}

Cong, Dacheng ^{[1
]}

Han, Junwei ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Heilongjiang, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (IEEE ICIA 2017) | 2017年

基金：

美国国家科学基金会;

关键词：

Spindle-coupled road simulator; Forward Kinematics; Vector matrix theory; Newton-Raphson algorithm;

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

The forward kinematics analysis of the six-degree-of-freedom(DOF) spindle-coupled road simulator (SCRS) with a complex hybrid serial-parallel mechanism(HSPM) has been performed. The forward kinematics with an efficient method is significant for control, singularity and workspace analysis of SCRS. Applying the vector matrix theory, the geometric restriction function was expressed in concise and compact form. A modified Newton-Raphson algorithm which could guarantee the convergence and improve the rapidity was proposed to solve the problem of the forward kinematics. The validity of forward kinematic formulations was verified through Matlab/Simulink and ADAMS. The numerical results show that the established model is accurate and the algorithm is effective which lays a good foundation for both mechanical system optimization and control scheme design of SCRS.

引用

页码：148 / 152

页数：5

共 41 条

[11] A modified newton-raphson absolute image reconstruction algorithm for ERT
Xiao, Liqing
Tianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology, 2015, 48 (08): : 734 - 741
[12] Estimating the fundamental frequency using modified Newton-Raphson algorithm
Nandi, Swagata
Kundu, Debasis
STATISTICS, 2019, 53 (02) : 440 - 458
[13] A NEWTON-RAPHSON ALGORITHM FOR MAXIMUM LIKELIHOOD FACTOR ANALYSIS
JENNRICH, RI
ROBINSON, SM
PSYCHOMETRIKA, 1969, 34 (01) : 111 - &
[14] Simulink© simulator for building hydronic heating systems using the Newton-Raphson algorithm
Gamberi, Mauro
Manzini, Riccardo
Regattieri, Alberto
ENERGY AND BUILDINGS, 2009, 41 (08) : 848 - 855
[15] An efficient improvement of modified Newton-Raphson algorithm for electrical impedance tomography
Rao, LY
He, RJ
Wang, YH
Yan, WL
Bai, J
Ye, DT
IEEE TRANSACTIONS ON MAGNETICS, 1999, 35 (03) : 1562 - 1565
[16] PhyNRnet: Physics-Informed Newton-Raphson Network for Forward Kinematics Solution of Parallel Manipulators
He, Chongjian
Guo, Wei
Zhu, Yanxia
Jiang, Lizhong
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2024, 16 (08):
[17] Defining the possible variants of a sectioned network by using a modified Newton-Raphson algorithm
Bobetko, Tin
Andric, Antun
Princip, Mario
2014 IEEE INTERNATIONAL ENERGY CONFERENCE (ENERGYCON 2014), 2014, : 583 - 588
[18] Computational effective modified Newton-Raphson algorithm for power harmonics parameters estimation
Petrovic, Predrag B.
Rozgic, Dimitrije
IET SIGNAL PROCESSING, 2018, 12 (05) : 590 - 598
[19] Optimization of Hessian matrix in modified Newton-Raphson algorithm for electrical resistance tomography
Xiao L.
European Journal of Electrical Engineering, 2019, 21 (05) : 439 - 446
[20] CONVERGENCE OF THE NEWTON-RAPHSON ALGORITHM IN ELASTIC PLASTIC INCREMENTAL-ANALYSIS
CADDEMI, S
MARTIN, JB
INTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN ENGINEERING, 1991, 31 (01) : 177 - 191

← 1 2 3 4 5 →