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Inverse and forward dynamics of N-3RPS manipulator with lockable joints

Published online by Cambridge University Press:  02 January 2015

Ali Taherifar ,
Hassan Salarieh ,
Aria Alasty  and
Mohammad Honarvar
Ali Taherifar
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Hassan Salarieh*
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Aria Alasty
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Mohammad Honarvar
Affiliation:
Department of Mechanical Engineering, UBC University, Canada
*
*Corresponding author. E-mail: salarieh@sharif.edu
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Summary

The N-3 Revolute-Prismatic-Spherical (N-3RPS) manipulator is a kind of serial-parallel manipulator and has higher stiffness and accuracy compared with serial mechanisms, and a larger workspace compared with parallel mechanisms. The locking mechanism in each joint allows the manipulator to be controlled by only three wires. Modeling the dynamics of this manipulator presents an inherent complexity due to its closed-loop structure and kinematic constraints. In the first part of this paper, the inverse kinematics of the manipulator, which consists of position, velocity, and acceleration, is studied. In the second part, the inverse and forward dynamics of the manipulator is formulated based on the principle of virtual work and link Jacobian matrices. Finally, the numerical example is presented for some trajectories.

Keywords

Redundant manipulatorInverse dynamicsLockable jointsVirtual work
Type
Articles
Information
Robotica , Volume 34 , Issue 6 , June 2016 , pp. 1383 - 1402
Copyright
Copyright © Cambridge University Press 2015 

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