Optimal Reduction Ratio Selection for the Driving System of a Novel High-Speed Parallel Manipulator

2007 ◽  
Author(s):  
Xianmin Zhang ◽  
Jianfeng Yuan
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Inverse Dynamics ◽  
Virtual Work ◽  
Operation Time ◽  
Reduction Ratio ◽  
Virtual Work Principle ◽  
Driving System ◽  
S Curve ◽  
The Cost

The reduction ratio of the driving system plays a very important role in the accelerating and decelerating capacity for a parallel manipulator. In this paper, the virtual work principle was employed to develop the inverse dynamics model of a novel high-speed parallel manipulator. A new S-curve speed profile was introduced and adopted to plan the trajectory of the end-effecter of the manipulator in the operation space. Aiming at the minimal operation time, a reduction ratio optimal selection method of the driving system was presented, which can make full use of the advantages of the AC servomotor and consequently reduce the cost of the manipulator.

Inverse Dynamics Formulation and Analysis of a Parallel Manipulator with 3DOFs Based on the Virtual Work Principle

2013 ◽  
Vol 455 ◽  
pp. 360-365
Author(s):  
Yong Gang Li ◽  
Li Xin Xu ◽  
Hui Wang
Keyword(s):  
Dynamic Optimization ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Virtual Work ◽  
Hessian Matrix ◽  
Parameters Estimation ◽  
Principle Of Virtual Work ◽  
Virtual Work Principle ◽  
Optimization Control ◽  
Strategy Design

Dynamics formulation is a primary task for dynamic optimization, control strategy design and servomotor parameters estimation of the parallel manipulator (PM). In this paper, by using the simple operation form of reciprocal screw and Lie Algebra, the compact expressions of complete Jacobian and Hessian matrix are derived. Then the inverse dynamics of 3PRS parallel manipulator is formulated based on the efficient principle of virtual work. In this model, the generalized forces of both actuation and constraint can be solved. Finally, a numerical simulation example is given to demonstrate this simple yet effective approach.

A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Jun Wu ◽  
Binbin Zhang ◽  
Liping Wang
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Virtual Work ◽  
Parallel Manipulators ◽  
Maximum Acceleration ◽  
Virtual Work Principle ◽  
Joint Force ◽  
Joint Forces ◽  
Three Degrees Of Freedom

The paper deals with the evaluation of acceleration of redundant and nonredundant parallel manipulators. The dynamic model of three degrees-of-freedom (3DOF) parallel manipulator is derived by using the virtual work principle. Based on the dynamic model, a measure is proposed for the acceleration evaluation of the redundant parallel manipulator and its nonredundant counterpart. The measure is designed on the basis of the maximum acceleration of the mobile platform when one actuated joint force is unit and other actuated joint forces are less than or equal to a unit force. The measure for evaluation of acceleration can be used to evaluate the acceleration of both redundant parallel manipulators and nonredundant parallel manipulators. Furthermore, the acceleration of the 4-PSS-PU parallel manipulator and its nonredundant counterpart are compared.

Dynamic dexterity of a planar 2-DOF parallel manipulator in a hybrid machine tool

Robotica ◽  
2008 ◽  
Vol 26 (1) ◽  
pp. 93-98 ◽  
Author(s):  
Jun Wu ◽  
Jinsong Wang ◽  
Tiemin Li ◽  
Liping Wang ◽  
Liwen Guan
Keyword(s):  
Condition Number ◽  
Parallel Manipulator ◽  
Virtual Work ◽  
Mean Value ◽  
Virtual Work Principle ◽  
Hybrid Machine Tool ◽  
Inertia Matrix ◽  
Inertial Parameters ◽  
Dynamic Formulation ◽  
The Mean

SUMMARYThis paper addresses the dynamic dexterity of a planar 2-degree of freedom (DOF) parallel manipulator with virtual constraint. Without simplification, the dynamic formulation is derived by using the virtual work principle. The condition number of the inertia matrix of the dynamic equation is presented as a criterion to evaluate the dynamic dexterity of a manipulator. In order to obtain the best isotropic configuration of the dynamic dexterity in the whole workspace, two global performance indices, which consider the mean value and standard deviation of the condition number of the inertia matrix, respectively, are proposed as the objective function. For a given set of geometrical and inertial parameters, the dynamic dexterity of the parallel manipulator is more isotropic in the center than at the boundaries of the workspace.

Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

Robotica ◽  
2014 ◽  
Vol 34 (3) ◽  
pp. 687-702 ◽  
Author(s):  
Bo Hu ◽  
Jingjing Yu ◽  
Yi Lu
Keyword(s):  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Virtual Work ◽  
Principle Of Virtual Work ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Velocity Mapping

SUMMARYThe inverse dynamics model of a novel (3-UPU)+(3-UPS+S) serial–parallel manipulator (S-PM) formed by a 3-UPU PM and a 3-UPS+S PM connected in serial is studied in this paper. First, the inverse position, velocity, and acceleration of this S-PM are studied systematically. Second, the velocity mapping relations between each component and the terminal platform of (3-UPU)+(3-UPS+S) S-PM are derived. Third, the dynamics model of the whole (3-UPU)+(3-UPS+S) S-PM is established by means of the principle of virtual work. The process for establishing the dynamics model of this S-PM is fit for other S-PMs.

Inverse Dynamics of 2UPS-2RPS Parallel Mechanism Based on Virtual Work Principle

2010 ◽  
Vol 29-32 ◽  
pp. 744-749 ◽  
Author(s):  
Wen Hua Wang ◽  
Zhi You Feng ◽  
Ting Li Yang ◽  
Ce Zhang
Keyword(s):  
Computer Simulation ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Virtual Work ◽  
Dynamic Equations ◽  
Inverse Dynamic ◽  
Virtual Work Principle ◽  
Inverse Dynamic Model ◽  
Moving Platform

Inverse dynamic equations of the 2UPS-2RPS mechanism are formulated by utilizing the virtual work principle. Kinematic analysis of the mechanism is presented, on the basis of which the Jacobian matrices of the limbs and the mechanism are deduced. By combining the dynamics of the limbs and the moving-platform, the inverse dynamic model of the mechanism is obtained. Finally a computer simulation is carried out to demonstrate the dynamic analysis of the moving platform.

Inverse dynamics of the 6-dof out-parallel manipulator by means of the principle of virtual work

Robotica ◽  
2009 ◽  
Vol 27 (2) ◽  
pp. 259-268 ◽  
Author(s):  
Yongjie Zhao ◽  
Feng Gao
Keyword(s):  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Virtual Work ◽  
Equations Of Motion ◽  
Principle Of Virtual Work ◽  
Constraint Forces ◽  
Dynamical Equations ◽  
Robot System ◽  
Lead Screw ◽  
Moving Platform

SUMMARYIn this paper, the inverse dynamics of the 6-dof out-parallel manipulator is formulated by means of the principle of virtual work and the concept of link Jacobian matrices. The dynamical equations of motion include the rotation inertia of motor–coupler–screw and the term caused by the external force and moment exerted at the moving platform. The approach described here leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure. Numerical simulation for the inverse dynamics of a 6-dof out-parallel manipulator is illustrated. The whole actuating torques and the torques caused by gravity, velocity, acceleration, moving platform, strut, carriage, and the rotation inertia of the lead screw, motor rotor and coupler have been computed.

Dynamics of a Flexible-Link Planar Parallel Manipulator in Cartesian Space

1994 ◽  
Author(s):  
Abbas Fattah ◽  
Arun K. Misra ◽  
Jorge Angeles
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Inverse Dynamics ◽  
Equations Of Motion ◽  
Flexible Link ◽  
End Effector ◽  
Joint Torques ◽  
Flexible Links ◽  
Cartesian Space ◽  
Planar Parallel Manipulator

Abstract The subject of this paper is the modeling and simulation of a flexible-link planar parallel manipulator in Cartesian space. Given a desired end-effector motion, the inverse kinematics and inverse dynamics of a rigid-link model of the parallel manipulator is used to obtain actuated joint torques. The actual end-effector motion and vibration of the flexible links are obtained using simulation (direct dynamics) for the flexible-link manipulator. Finite elements are used to model the flexible links, while the Euler-Lagrange formulation is used to derive the equations of motion of the uncoupled links. The equations of motion of all the links are assembled to obtain the governing equations for the entire system. The methodology of the natural orthogonal complement, which has been previously applied to flexible-link systems with open-chain structures, is used here to eliminate the constraint forces. Finally, geometric nonlinearities in elastic deformations, which are very important in high-speed operations, are also considered.

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