Hostname: page-component-5db58dd55d-qmkzp Total loading time: 0 Render date: 2026-06-02T04:22:10.243Z Has data issue: false hasContentIssue false
  • English
  • Français

Inverse Dynamics of a 3-P[2(US)] Translational Parallel Robot

Published online by Cambridge University Press:  26 December 2018

Mahmood Mazare ,
Mostafa Taghizadeh  and
M. Rasool Najafi
Mahmood Mazare
Affiliation:
School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran E-mail: m_mazare@sbu.ac.ir
Mostafa Taghizadeh*
Affiliation:
School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran E-mail: m_mazare@sbu.ac.ir
M. Rasool Najafi
Affiliation:
School of Mechanical Engineering, Shahid Beheshti University, Tehran, Iran E-mail: m_mazare@sbu.ac.ir Department of Mechanical Engineering, University of Qom, Qom, Iran E-mail: mr.najafi@gom.ac.ir
*
*Corresponding author. E-mail: mo_taghizadeh@sbu.ac.ir
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, a type of parallel robot with three translational degrees of freedom is studied. Inverse and forward kinematic equations are extracted for position and velocity analyses. The dynamic model is derived by Lagrange’s approach and the principle of virtual work and related computational algorithms implementing inverse and forward dynamics are presented. Furthermore, some numerical simulations are performed using the kinematic and dynamic models in which the results show good agreement with expected qualitative behavior of the mechanism. Comparisons with the results of work-energy and impulse-momentum methods quantitatively verify the validity of the derived equations of motion. Also, a relative computational effectiveness is observed in implementation of virtual work model via the simulations.

Keywords

Kinematic modelingParallel robotDynamic modelingConstrained system equationsVirtual work

Information

Type
Articles
Information
Robotica , Volume 37 , Issue 4 , April 2019 , pp. 708 - 728
Copyright
Copyright © Cambridge University Press 2018 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Merlet, J.-P., Parallel Robots (Kluwer Academic Publishers, London, 2001).Google Scholar
Monsarrat, B. and Gosselin, C., “Workspace analysis and optimal design of a 3-leg 6-DOF parallel platform mechanism,” IEEE Trans. Robot. Autom. 19, 954–966 (2003).10.1109/TRA.2003.819603CrossRefGoogle Scholar
Dado, M. H., Al-Huniti, N. S. and Eljabali, A. K., “Dynamic simulation model for mixed-loop planar robots with flexible joint drives,” Mech. Mach. Theory 36, 547–559 (2001).10.1016/S0094-114X(00)00052-5CrossRefGoogle Scholar
Codourey, A. and Burdet, E., “A Body-Oriented Method for Finding a Linear form of the Dynamic Equation of Fully Parallel Robots,” IEEE International Conference on Robotics and Automation, Alberquerque, NM (1997).Google Scholar
Liu, G. and Li, Z., “A unified geometric approach to modeling and control of constrained mechanical systems,” IEEE Trans. Robot. Autom. 18(4), 574–587 (2002).Google Scholar
Niu, X.-M., Gao, G. Q., Liu, X. J. and Bao, Z. D., “Dynamics and control of a novel 3-DOF parallel manipulator with actuation redundancy,” Int. J. Autom. Comput. 10(6), 552–562 (2013).10.1007/s11633-013-0753-6CrossRefGoogle Scholar
Do, W. and Yang, D., “Inverse dynamic analysis and simulation of a platform type of robot,” J. Robot. Syst. 5, 209–227 (1988).10.1002/rob.4620050304CrossRefGoogle Scholar
Reboulet, C. and Berthomieu, T., “Dynamic Models of a Six Degree of Freedom Parallel Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, Pisa, Italy (1991) pp. 1153–1157.Google Scholar
Ji, Z., “Dynamics decomposition for Stewart platforms,” ASME J. Mech. 116, 67–69 (1994).10.1115/1.2919378CrossRefGoogle Scholar
Zhao, X., “Design, analysis, and control of a cable-driven parallel platform with a pneumatic muscle active support,” Robotica 35(4), 744–765 (2017).10.1017/S0263574715000806CrossRefGoogle Scholar
Zhao, Y., “Dynamic performance evaluation for a 3U P S-P RU parallel robot,” Int. J. Adv. Robot. Syst. 13(5), 1729881416665235 (2016).Google Scholar
Özdemir, M., “Dynamic analysis of planar parallel robots considering singularities and different payloads,” Robot. Comput. Integr. Manufact. 46, 114–121 (2017).10.1016/j.rcim.2017.01.005CrossRefGoogle Scholar
Mo, J., Shao, Z.-F., Guan, L., Xie, F. and Tang, X., “Dynamic performance analysis of the X4 high-speed pick-and-place parallel robot,” Robot. Comput. Integr. Manuf. 46, 48–57 (2017).10.1016/j.rcim.2016.11.003CrossRefGoogle Scholar
Lu, Y. and Dai, Z., “Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs,” Mech. Mach. Theory 103, 222–235 (2016).10.1016/j.mechmachtheory.2016.05.003CrossRefGoogle Scholar
Staicu, S., Liu, X.-J. and Wang, J., “Inverse dynamics of the HALF parallel manipulator with revolute actuators,” Nonlinear Dyn. 50, 1–12 (2007).10.1007/s11071-006-9138-5CrossRefGoogle Scholar
Tsai, L.-W., “Solving the inverse dynamics of Stewart-Gough manipulator by the principle of virtual work,” J. Mech. Des. 122, 3–9 (2000).10.1115/1.533540CrossRefGoogle Scholar
Gallardo, J., Rico, J., Frisoli, A., Checcacci, D. and Bergamasco, M., “Dynamics of parallel manipulators by means of screw theory,” Mech. Mach. Theory 38, 1113–1131 (2003).10.1016/S0094-114X(03)00054-5CrossRefGoogle Scholar
Staicu, S. and Zhang, D., “A novel dynamic modelling approach for parallel mechanisms analysis,” Robot. Comput. Integr. Manufact. 24(1), 167–172 (2008).10.1016/j.rcim.2006.09.001CrossRefGoogle Scholar
Miller, K., “Optimal design and modeling of spatial parallel manipulators,” Int. J. Robot. Res. 23, 127–140 (2004).10.1177/0278364904041322CrossRefGoogle Scholar
Staicu, S., “Dynamics modelling of a Stewart-based hybrid parallel robot,” Adv. Robot. 29(14), 929–938 (2015).10.1080/01691864.2015.1023219CrossRefGoogle Scholar
Li, Y. and Xu, Q., “Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism,” Robotica 23(2), 219–229 (2005).10.1017/S0263574704000797CrossRefGoogle Scholar
Mazare, M., Taghizadeh, M. and Najafi, M. R., “Kinematic analysis and design of a novel 3-DOF translational parallel robot,” Int. J. Autom. Comput. (2016). doi: 10.1007/s11633-017-1066-y.Google Scholar
Ginsberg, J. H., Advanced Engineering Dynamics (Cambridge University Press, New York, NY, 1998).Google Scholar