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Inverse dynamics analysis of a 6-RR-RP-RR parallel manipulator with offset universal joints

Published online by Cambridge University Press:  26 March 2024

Huze Huang Open the ORCID record for Huze Huang [Opens in a new window] ,
Hasiaoqier Han ,
Dawei Li ,
Zhenbang Xu  and
Qingwen Wu
Huze Huang
Affiliation:
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China University of Chinese Academy of Sciences, Beijing, China
Hasiaoqier Han*
Affiliation:
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing, China
Dawei Li
Affiliation:
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China
Zhenbang Xu
Affiliation:
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing, China
Qingwen Wu
Affiliation:
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun, China Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing, China
*
Corresponding author: Hasiaoqier Han; Email: hanhasiaoqier@yahoo.com
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Abstract

This paper presents an algorithm for solving the inverse dynamics of a parallel manipulator (PM) with offset universal joints (RR–joints) via the Newton–Euler method. The PM with RR–joints increase the joint stiffness and enlarge the workspace but introduces additional joint parameters and constraint torques, rendering the dynamics more complex. Unlike existing studies on PMs with RR–joints, which emphasize the kinematics and joint performance, this paper studies the dynamical model. First, an iterative algorithm is established through a rigid body velocity transformation, which calculates the input parameters of the link velocity and acceleration. A linear system of equations in matrix form is then established for the entire PM through the Newton–Euler method. By using the generalized minimal residual method (GMRES) to solve the equation system, all the forces and torques on the joints can be obtained, from which the required actuation force can be derived. This method is validated through numerical simulations using the automatic dynamic analysis of multibody systems software. The proposed method is suitable for establishing the dynamic model of complex PMs with redundant or hybrid structures.

Keywords

parallel manipulatorprecision adjustment platformrobot dynamicsoffset universal jointNewton–Euler methodGMRES

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 5 , May 2024 , pp. 1549 - 1567
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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