Dynamic modeling of a three degree-of-freedom robotic manipulator

1984 ◽  
Vol SMC-14 (4) ◽  
pp. 643-654 ◽  
Author(s):  
Henry W. Stone ◽  
Charles P. Neuman
Keyword(s):  
Dynamic Modeling ◽  
Robotic Manipulator ◽  
Degree Of Freedom ◽  
Three Degree Of Freedom

scholarly journals Dynamic Modeling of Three-Degree-of-Freedom Actuator for Image Stabilization

2018 ◽  
Vol 26 (2) ◽  
pp. 280-285
Author(s):  
Akira HEYA ◽  
Katsuhiro HIRATA ◽  
Noboru NIGUCHI ◽  
Takamichi YOSHIMOTO ◽  
Tomohiro OTA
Keyword(s):  
Dynamic Modeling ◽  
Degree Of Freedom ◽  
Image Stabilization ◽  
Three Degree Of Freedom

Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-30
Author(s):  
Soheil Zarkandi
Keyword(s):  
Closed Form ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Parallel Manipulator ◽  
Optimization Problem ◽  
Dynamic Constraints ◽  
Part C ◽  
Euler Approach ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

Abstract A comprehensive dynamic modeling and actuator torque minimization of a new symmetrical three-degree-of-freedom (3-DOF) 3-PṞR spherical parallel manipulator (SPM) is presented. Three actuating systems, each of which composed of an electromotor, a gearbox and a double Rzeppa-type driveshaft, produce input torques of the manipulator. Kinematics of the 3-PṞR SPM was recently studied by the author (Zarkandi, Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 2020, https://doi.org/10.1177%2F0954406220938806). In this paper, a closed-form dynamic equation of the manipulator is derived with the Newton–Euler approach. Then, an optimization problem with kinematic and dynamic constraints is presented to minimize torques of the actuators for implementing a given task. The results are also verified by the SimMechanics model of the manipulator.

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