Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism

Meccanica ◽  
2015 ◽  
Vol 51 (7) ◽  
pp. 1583-1593 ◽  
Author(s):  
Dongming Gan ◽  
Jian S. Dai ◽  
Jorge Dias ◽  
Lakmal Seneviratne
Keyword(s):  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Dynamics Analysis ◽  
Joint Force ◽  
Inverse Dynamics Analysis ◽  
Force Decomposition

Kinematics and inverse dynamics analysis for a novel 3-PUU parallel mechanism

Robotica ◽  
2016 ◽  
Vol 35 (10) ◽  
pp. 2018-2035 ◽  
Author(s):  
Wang Liping ◽  
Xu Huayang ◽  
Guan Liwen
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Virtual Work ◽  
Dynamics Analysis ◽  
Parasitic Motion ◽  
Inverse Kinematics Problem ◽  
Geometrical Constraints ◽  
Inverse Dynamics Analysis ◽  
Matrix Calculation

SUMMARYThe modules of parallel tool heads with 2R1T degrees of freedom (DOFs), i.e., two rotational DOFs and one translational DOF, have become so important in the field of machine tools that corresponding research studies have attracted extensive attention from both academia and industry. A 3-PUU (P represents a prismatic joint, U represents a universal joint) parallel mechanism with 2R1T DOFs is proposed in this paper, and a detailed discussion about its architecture, geometrical constraints, and mobility characteristics is presented. Furthermore, on the basis of its special geometrical constraint, we derive and explicitly express the parasitic motion of the 3-PUU mechanism. Then, the inverse kinematics problem, the Jacobian matrix calculation and the forward kinematics problem are also investigated. Finally, with a simplified dynamics model, the inverse dynamics analysis for the mechanism is carried out with the Principle of Virtual Work, and corresponding results are compared with that of the 3-PRS mechanism. The above analyses illustrate that the 3-PUU parallel mechanism has good dynamics features, which validates the feasibility of applying this mechanism as a tool head module.

A Well-Posed, Embedded Constraint Representation of Joint Moments From Kinesiological Measurements

2000 ◽  
Vol 122 (4) ◽  
pp. 437-445 ◽  
Author(s):  
Behzad Dariush ◽  
Hooshang Hemami ◽  
Mohamad Parnianpour
Keyword(s):  
Inverse Dynamics ◽  
Force Plate ◽  
Dynamics Analysis ◽  
Noise Levels ◽  
Joint Moments ◽  
Planar System ◽  
Open Chain ◽  
Inverse Dynamics Analysis ◽  
Well Posed ◽  
Dynamics Method

Joint moment estimation using the traditional inverse dynamics analysis presents two challenging problems, which limit its reliability. First, the quality of the computed moments depends directly on unreliable estimates of the segment accelerations obtained numerically by differentiating noisy marker measurements. Second, the representation of joint moments from combined video and force plate measurements belongs to a class of ill-posed problems, which does not possess a unique solution. This paper presents a well-posed representation derived from an embedded constraint equation. The proposed method, referred to as the embedded constraint representation (ECR), provides unique moment estimates, which satisfy all measurement constraints and boundary conditions and require fewer acceleration components than the traditional inverse dynamics method. Specifically, for an n-segment open chain planar system, the ECR requires n−3 acceleration components as compared to 3n−1 components required by the traditional (from ground up) inverse dynamics analysis. Based on a simulated experiment using a simple three-segment model, the precision of the ECR is evaluated at different noise levels and compared to the traditional inverse dynamics technique. At the lowest noise levels, the inverse dynamics method is up to 50 percent more accurate while at the highest noise levels the ECR method is up to 100 percent more accurate. The ECR results over the entire range of noise levels reveals an average improvement on the order 20 percent in estimating the moments distal to the force plate and no significant improvement in estimating moments proximal to the force plate. The new method is particularly advantageous in a combined video, force plate, and accelerometery sensing strategy. [S0148-0731(00)01904-X]

scholarly journals A foot/ground contact model for biomechanical inverse dynamics analysis

2020 ◽  
Vol 100 ◽  
pp. 109412
Author(s):  
Romain Van Hulle ◽  
Cédric Schwartz ◽  
Vincent Denoël ◽  
Jean-Louis Croisier ◽  
Bénédicte Forthomme ◽  
...  
Keyword(s):  
Inverse Dynamics ◽  
Contact Model ◽  
Dynamics Analysis ◽  
Ground Contact ◽  
Inverse Dynamics Analysis

1B02 Evaluation of body load for trans-femoral prosthetic walking by inverse dynamics analysis

2013 ◽  
Vol 2013.25 (0) ◽  
pp. 63-64
Author(s):  
Takahiro MASUDA ◽  
Hisashi NAITO ◽  
Takeshi MATSUMOTO ◽  
Masao TANAKA
Keyword(s):  
Inverse Dynamics ◽  
Dynamics Analysis ◽  
Body Load ◽  
Inverse Dynamics Analysis
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