TY - GEN
T1 - Kinematic Modelling of South Pointing Chariot System Using Block Diagram Approach
AU - Huang, Tzu Hao
AU - Kumar, R. B.S.V.Siva
AU - Ubadigha, Chinweze U.
AU - Tsai, Mi Ching
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by the Ministry of Science and Technology (MOST), Taiwan, under Grant MOST 109-2221-E-006-087-MY3 and MOST 109-2622-8-006-005.
Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - This paper presents a kinematic model of three ports differential mechanism using the block diagram technique. In contrast to more complex conventional approaches, the block diagram technique allows for the characterization of the input-port output-port speed kinematic relationship of the planetary gear systematically. The dedicated closed loop relationship can be found by simply applying methods known in the control community, such as Mason's rule. By way of exemplary implementation, this paper adopts a South Pointing Chariot, which is a two-input port differential, as a case study. A feedback connection kinematic model of the South Pointing Chariot system is established using the block diagram technique.
AB - This paper presents a kinematic model of three ports differential mechanism using the block diagram technique. In contrast to more complex conventional approaches, the block diagram technique allows for the characterization of the input-port output-port speed kinematic relationship of the planetary gear systematically. The dedicated closed loop relationship can be found by simply applying methods known in the control community, such as Mason's rule. By way of exemplary implementation, this paper adopts a South Pointing Chariot, which is a two-input port differential, as a case study. A feedback connection kinematic model of the South Pointing Chariot system is established using the block diagram technique.
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U2 - 10.1109/CACS52606.2021.9639059
DO - 10.1109/CACS52606.2021.9639059
M3 - Conference contribution
AN - SCOPUS:85123932377
T3 - 2021 International Automatic Control Conference, CACS 2021
BT - 2021 International Automatic Control Conference, CACS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 International Automatic Control Conference, CACS 2021
Y2 - 3 November 2021 through 6 November 2021
ER -