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International Journal of Applied Mechanics and Engineering

The Journal of University of Zielona Góra

Editor-in-Chief: Walicki, Edward

4 Issues per year

CiteScore 2016: 0.12

SCImago Journal Rank (SJR) 2016: 0.127
Source Normalized Impact per Paper (SNIP) 2016: 0.063

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Motion Planning of a Novel 2-DOF Parallel Manipulator Applied as Driving Simulator of the Wheel Loader

J. Knapczyk / G. Tora
Published Online: 2014-09-02 | DOI: https://doi.org/10.2478/ijame-2014-0041


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

Keywords : simulator; wheel loader driving; motion planning


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About the article

Received: 2014-05-12

Revised: 2014-05-26

Published Online: 2014-09-02

Published in Print: 2014-08-01

Citation Information: International Journal of Applied Mechanics and Engineering, Volume 19, Issue 3, Pages 599–608, ISSN (Online) 1734-4492, DOI: https://doi.org/10.2478/ijame-2014-0041.

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© 2014. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

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