In order to improve the control precision and robustness of the existing proportion integration differentiation (PID) controller of a 3-Revolute–Revolute–Revolute (3-RRR) parallel robot, a variable PID parameter controller optimized by a genetic algorithm controller is proposed in this paper. Firstly, the inverse kinematics model of the 3-RRR parallel robot was established according to the vect...

The paper presents the modeling and control design of a variable-geometry suspension system, which is applied as independent wheel steering for in-wheel electric vehicles. The variablegeometry suspension modifies the tilting of the wheel, which has an effect on the steering of the wheels through the variation of the scrub radius. In the paper the model of the suspension-steering system and the ...

Locomotion which is one the most important features separating living beings from inanimate attracts a lot of research areas. Identification of the human motion plays an important role in determining movement disorders, designing of an orthosis and a prosthesis, ergonomic studies, humanoid mechanisms, computer applications and sport activities. In this study, a two-dimensional link-segment mode...

In this work, an inverse dynamic control method is developed to enhance tracking performance of industrial robots, which effectively deal with the nonlinear dynamic interferential forces. In general, the DFF (Dynamic Feed-Forward) controller and the CTM (Computed-Torque Method) controller are used for dynamic control for industrial robots. We study on the practical issues for implementing these...

In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in SOLIDWORKS 3D CAD software, which based on the material and dimensions of the model provides some physical variables necessary for modeling. In order to verify t...

This paper presents the analysis of kinematic and dynamic modeling a wearable lower-limb robot (WLLR) for home-based applications. SOLIDWORKS software was utilized, concept modular configuration adopted into design. The Denavit Hartenberg (DH) geometric method were employed to obtain theoretical forward inverse kinematics model respectively. Lagrangian formulation on kinetic potential energy se...

In impulsive orbital maneuvers, a large disturbance torque is generated by the thrust vector misalignment from the center of mass (C.M). The purpose of this paper is to reject the mentioned disturbance and stabilize the spacecraft attitude, based on the combination of a one degree of freedom (1DoF) gimbaled-thruster, two reaction wheels (RWs) and spin-stabilization. In this paper, the disturban...

In this study, a graphic simulator that is used to simulate problems related kinematics and dynamics for an exoskeleton robot arm with 5 degrees of freedom (DoF) was presented. The utilized the advantages design software SolidWorks, Catia, computing simulation power SimMechanics Toolbox in Matlab. core proposed algorithm solve dynamic developing upper-limb rehabilitation robot. study optimizati...

This paper discusses the development and subsequent validation process of generic multi-body models for commercial vehicle combinations. The model is intended for performance assessment and improving of current and future combinations for the European road network. A second goal is to employ the model for the development of driver support systems and active steering strategies for both low spee...

Biomechanics is a very important field of study when one considers the importance that motion, such as walking, has in our everyday life. Although we perform tasks such as running and climbing stairs in an automatic way, without even thinking of it, these tasks are extremely complex from a mechanical and biological point of view. Nowadays, the progression of science towards the understanding of...