Kinematic constraint conditions and dynamic equations of spatial flexible parallel manipulator

2011 ◽  
Author(s):  
Liu Shanzeng ◽  
Zhu Zhencai ◽  
Liu Chusheng ◽  
Zhang Lianjie ◽  
Yu Yue-qing
Keyword(s):  
Parallel Manipulator ◽  
Dynamic Equations ◽  
Kinematic Constraint

Singularity robust inverse dynamics of planar 2-RPR parallel manipulators

2004 ◽  
Vol 218 (7) ◽  
pp. 721-730 ◽  
Author(s):  
S Kemal Ider
Keyword(s):  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Full Rank ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Dynamic Equations ◽  
Revolute Joints ◽  
Planar Parallel Manipulator ◽  
Pass Through ◽  
Full Utilization

In planar parallel robots, limitations occur in the functional workspace because of interference of the legs with each other and because of drive singularities where the actuators lose control of the moving platform and the actuator forces grow without bounds. A 2-RPR (revolute, prismatic, revolute joints) planar parallel manipulator with two legs that minimizes the interference of the mechanical components is considered. Avoidance of the drive singularities is in general not desirable since it reduces the functional workspace. An inverse dynamics algorithm with singularity robustness is formulated allowing full utilization of the workspace. It is shown that if the trajectory is planned to satisfy certain conditions related to the consistency of the dynamic equations, the manipulator can pass through the drive singularities while the actuator forces remain stable. Furthermore, for finding the actuator forces in the vicinity of the singular positions a full rank modification of the dynamic equations is developed. A deployment motion is analysed to illustrate the proposed approach.

Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator

2013 ◽  
pp. 249-265
Author(s):  
Hamoon Hadian ◽  
Yasser Amooshahi ◽  
Abbas Fattah
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Joint Space ◽  
Kinematics And Dynamics ◽  
Dynamics Modeling ◽  
Kinematic Constraint ◽  
Control Scheme ◽  
Minimum Number ◽  
Dynamical Properties ◽  
Computed Torque

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.

Research on Dynamics of a Three-DOF Parallel Manipulator for Levelling Mechanism

2013 ◽  
Vol 774-776 ◽  
pp. 1369-1374 ◽  
Author(s):  
Hong Jun Yang
Keyword(s):  
Parallel Manipulator ◽  
Coefficient Matrix ◽  
Dynamics Simulation ◽  
Dynamic Equations ◽  
Control System Design ◽  
Influence Coefficient ◽  
Lagrange Method ◽  
First Order ◽  
Influence Coefficient Method ◽  
Coefficient Method

A three-DOF parallel manipulator with two rotations and one translation was put forward as a levelling mechanism in this paper. Its structure and kinematics were analyzed and the first-order influence coefficient matrix was obtained by using the influence coefficient method. Then the complete and concise dynamic equations without too many unknowns were established based on Lagrange method. In addition, the dynamics simulation was carried out and the result shows that drive forces of the legs have no strong coupling, which is important to control system design.

Hybrid Multi-Mode Input Shaping Suppresses the Vibration of a 3-DOF Parallel Manipulator

2011 ◽  
Vol 291-294 ◽  
pp. 2115-2118 ◽  
Author(s):  
Bing Li ◽  
Yu Lan Wei ◽  
Shou Xin Zhu ◽  
Yu Qing Zheng
Keyword(s):  
Time Delay ◽  
Numerical Simulations ◽  
Parallel Manipulator ◽  
Dynamic Equations ◽  
System Response ◽  
Input Shaping ◽  
Structural System ◽  
Residual Vibration ◽  
Multi Mode

The methodologies and application of hybrid multi-mode positive impulses input shaping of a 3-DOF flexible parallel manipulator in this paper. First, the structural system and the dynamic equations are expressed for a 3-DOF manipulator. Second, the hybrid multi-mode positive impulses input shaping is introduced to reduce the residual vibration of the multi-mode system or to decrease the time-delay of the system response at the same time. The theory of the hybrid multi-mode positive impulses input shapers are presented, and the hybrid two-mode positive impulses input shapers of a 3-DOF manipulator are established and compared with the classic multi-mode positive impulses input shapers. Finally, the numerical simulations are made, and the robust of the input shapers are presented and compared.

New Approach for Dynamic Modelling of Flexible Manipulators

2005 ◽  
Vol 219 (3) ◽  
pp. 285-298 ◽  
Author(s):  
B C Bouzgarrou ◽  
P Ray ◽  
G Gogu
Keyword(s):  
Parallel Manipulator ◽  
Systematic Approach ◽  
Dynamic Modelling ◽  
Dynamic Equations ◽  
Lagrangian Formalism ◽  
Flexible Manipulators ◽  
Simulation Design ◽  
New Approach ◽  
Model Equations ◽  
Infinitesimal Operators

This paper deals with the dynamic modelling of flexible manipulators. Expressing such models analytically is extremely useful in simulation, design, control, and identification. To this end, an efficient and systematic approach is proposed for symbolic derivation of dynamic equations. A kinematic formulation based on homogeneous transformations and infinitesimal operators is used. In order to obtain simplified model equations for sufficiently stiff manipulators, infinitesimal displacement terms of the order of ≤ 2 are systematically eliminated by using an appropriate algorithm. Lagrangian formalism is adopted to obtain dynamic equations. A serial and a parallel manipulator are considered to verify and illustrate the proposed approach.

Dynamic Model of the 6-DOF Parallel Manipulator Control Using Lagrangian Equation

2012 ◽  
Vol 157-158 ◽  
pp. 437-440 ◽  
Author(s):  
Rattawut Vongvit ◽  
Hai Tao Zhu
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Dynamic Equations ◽  
Lagrangian Equation ◽  
Good Ability ◽  
Manipulator Control

This paper presents the control of the 6-DOF parallel manipulator using Lagrangian equation. The 6-DOF parallel manipulator are composed of fix base and moveable platform are couple by the actuators. The dynamic equations express by Lagrangian equation, the structure of the 6-DOF parallel manipulator and kinematics and are explains in this paper. The 6-DOF parallel manipulator using Lagrangian equation are accurate and good ability.

Vibration Suppression of Manipulator with Multiple-Mode Negative

2012 ◽  
Vol 549 ◽  
pp. 816-820 ◽  
Author(s):  
Qing Huang ◽  
Dan Zhang ◽  
Bing Li ◽  
Yu Lan Wei
Keyword(s):  
Delay Time ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Dynamic Equations ◽  
System Response ◽  
Input Shaping ◽  
Structural System ◽  
Residual Vibration ◽  
Multiple Mode

The methodologies and application of multiple-mode negative impulses input shaping of a 3-DOF parallel manipulator with flexible intermediate linkages are presented in this paper. First, the structural system and the dynamic equations are expressed for a 3-DOF manipulator. Second, the multiple-mode negative impulses input shaping is introduced to reduce the residual vibration of the multiple-mode system and decrease the delay time of the system response at the same time. Finally, the theory of the multiple-mode ZV, ZVD and EI negative impulses input shapers are presented, and the two-mode negative impulses input shapers of a 3-DOF manipulator are established and compared with the positive impulses input shapers.

Closed-Form Forward Dynamic Equations of 6-DOF PUS Type Parallel Manipulators

2000 ◽  
Author(s):  
Jong-Phil Kim ◽  
Jeha Ryu
Keyword(s):  
Closed Form ◽  
Parallel Manipulator ◽  
Control Strategies ◽  
Equations Of Motion ◽  
Parallel Manipulators ◽  
Simulation Software ◽  
Dynamic Equations ◽  
Constant Length ◽  
Euler Approach ◽  
Six Degree Of Freedom

Abstract This paper presents closed-form forward dynamic equations of six degree-of-freedom HexaSlide type parallel manipulators. The HexaSlide type parallel manipulators are characterized by an architecture with constant-length links that are attached to moving sliders on the ground and to a mobile platform. Based on the kinematic analysis, forward dynamic equations of motion of the parallel manipulator are derived by the Newton-Euler approach. In this derivation, joint frictions as well as all link inertia are included. The correctness of derived dynamic equations is validated by a commercial dynamic simulation software. The kinematic and dynamic equations may be used in the computer simulation of various control strategies.

Singular Configuration and Workspace of a Parallel Manipulator With New Architecture

2000 ◽  
Author(s):  
Abbas Fattah ◽  
Mojtaba Oghbaei
Keyword(s):  
Parallel Manipulator ◽  
Singularity Analysis ◽  
Kinematic Constraint ◽  
Constraint Equations ◽  
Singular Configurations ◽  
Input And Output ◽  
Points Of View ◽  
Singular Configuration

Abstract In this paper singularity analysis and workspace of a 3DOF parallel manipulator with new architecture are studied. Singular configurations of the manipulator at hand are analysed first. To this end, upon differentiating the kinematic constraint equations of the manipulator with respect to time, the relation between input and output speeds is obtained in terms of two kinds of Jacobians. These two Jacobians are then used to determine singular configurations. Next the workspace of the manipulator is studied from two points of view.

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