Inverse Kinematic and Dynamic Analyses of the 6-UCU Parallel Manipulator

2011 ◽  
Vol 127 ◽  
pp. 172-180 ◽  
Author(s):  
Guo Jun Liu ◽  
Shu Tao Zheng ◽  
Peter O. Ogbobe ◽  
Jun Wei Han
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Driving Forces ◽  
Stewart Platform ◽  
Inverse Kinematic ◽  
Euler Method ◽  
Kinematics And Dynamics ◽  
Precise Analysis ◽  
Dynamic Analyses ◽  
Reaction Forces

From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.

scholarly journals Inverse kinematic and dynamic analysis of redundant measuring manipulator BKHN-MCX-04

2010 ◽  
Vol 32 (1) ◽  
pp. 15-26 ◽  
Author(s):  
Nguyen Van Khang ◽  
Nguyen Phong Dien ◽  
Nguyen Van Vinh ◽  
Tran Hoang Nam
Keyword(s):  
Dynamic Analysis ◽  
Experimental Measurement ◽  
Calculation Result ◽  
Inverse Kinematics ◽  
Inverse Kinematic ◽  
Kinematics And Dynamics ◽  
Kinematic Redundancy ◽  
Geometric Tolerance ◽  
University Of Technology

This paper deals with the problem of inverse kinematics and dynamics of a measuring manipulator with kinematic redundancy which was designed and manufactured at Hanoi University of Technology for measuring the geometric tolerance of surfaces of machining components. A comparison between the calculation result and the experimental measurement is also presented.

Kinematics and Dynamics of a Parallel Manipulator With Woven Joints

1993 ◽  
Author(s):  
Hyunsok Pang
Keyword(s):  
Lagrange Multipliers ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Numerical Technique ◽  
Vector Analysis ◽  
Kinematics And Dynamics ◽  
Governing Equations ◽  
Numerical Examples

Abstract Presented is an analysis of the kinematics and the inverse dynamics of a proposed three DOF parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangin technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers in order to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline.

Dynamic modeling of the Stewart platform for the NanShan Radio Telescope

2020 ◽  
Vol 12 (7) ◽  
pp. 168781402094007
Author(s):  
Guljaina Kazezkhan ◽  
Binbin Xiang ◽  
Na Wang ◽  
Aili Yusup
Keyword(s):  
Radio Telescope ◽  
Driving Forces ◽  
Virtual Work ◽  
Dynamic Performance ◽  
Stewart Platform ◽  
Dynamic Simulations ◽  
Inverse Dynamic ◽  
Passive Rotation ◽  
Precise Analysis ◽  
And Control

The NanShan Radio Telescope is a 26-m fully steerable radio telescope, and it adopts a 6-UPU Stewart platform with electric motors to adjust and align the position of the subreflector. In order to analyze the actual dynamic performance and control the Stewart platform of the NanShan Radio Telescope, this article models the inverse dynamic of the Stewart platform using the virtual work approach. The model improves the accuracy of the dynamic equations and considered the pitching motion of the base platform in the practical application of the radio telescope. Dynamic simulations of the Stewart platform are implemented, the conditions of the passive rotation of the piston of actuators are considered, and the results show that the effect of the passive rotation of the pistons of the actuators is important to obtain more accurate result. The conditions of the system under the different elevation angles of the radio telescope are also considered, and the results show that the change of the elevation angles of the radio telescope has a great impact on the driving forces of the Stewart platform. It is known from the analysis that the passive rotation of pistons of actuators and the elevation movement of the primary reflector of the radio telescope are not ignorable for the precise analysis and control of the Stewart platform of the NanShan Radio Telescope.

Design and kinematic analysis of a rotary positioner

Robotica ◽  
2006 ◽  
Vol 25 (1) ◽  
pp. 75-85 ◽  
Author(s):  
Borys Shchokin ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Stewart Platform ◽  
Optimal Combination ◽  
Variable Length ◽  
Mobile Platform ◽  
Constant Length ◽  
Forward And Inverse Kinematics ◽  
Circular Base

A rotary positioner (RP) is a type of parallel manipulator that is similar to a Stewart Platform. Instead of having variable-length bars, however, an RP has constant-length limbs located between a mobile platform as well as six circular motors distributed on a circular base. This paper offers a detailed investigation of an RP, focusing on its mechanism and analyzing its forward and inverse kinematics. It also computes an RP's constant orientation and orientation workspaces, taking into account the constraints imposed by passive joints and links interference. The optimal combination of the main parameters for an RP's maximum possible translation and orientation is also provided.

Solving Inverse Kinematics and Driving Forces of a Novel 3RPS-3SPR Serial-Parallel Manipulator

2009 ◽  
Author(s):  
Bo Hu ◽  
Yi Lu ◽  
Jia Yin Xu ◽  
Jing Jing Yu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Driving Forces ◽  
Virtual Work ◽  
Geometrical Constraint ◽  
Principle Of Virtual Work ◽  
Jacobian Matrices ◽  
Numerical Example ◽  
Dimension Constraint

The inverse kinematics and the driving forces of a 3RPS-3SPR serial-parallel manipulator (PM) with 6 degree of freedoms (DOFs) are solved in this paper. This 3RPS-3SPR serial-PM includes a lower 3-RPS PM and an upper 3-SPR PM. First, the inverse displacement is solved based on the geometrical constraint and the dimension constraint of this PM. Second, the 9×9 and 6×6 form inverse Jacobian matrices are derived and the driving forces are solved by using principle of virtual work. Finally, the numerical example is given.

Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator

2006 ◽  
Vol 220 (1) ◽  
pp. 61-72 ◽  
Author(s):  
H B Guo ◽  
H R Li
Keyword(s):  
Driving Forces ◽  
Complete System ◽  
Stewart Platform ◽  
Euler Method ◽  
Dynamic Equations ◽  
Task Space ◽  
Inverse Dynamic ◽  
Lagrange Formulation ◽  
Dynamic Formulation ◽  
Six Degree Of Freedom

This article presents the explicit compact closed-form dynamic equations in the task-space by applying the combination of the Newton—Euler method with the Lagrange formulation including the dynamics of the legs for the Stewart platform manipulator. The kinematics analysis of the manipulator is given and the velocity and the acceleration formulae needed to derive the dynamic equations are also derived. The driving forces acting on the legs are determined according to the dynamic formulation. The formulation has been implemented in routines and has been used for studying a few inverse dynamic problems of a specific Stewart platform manipulator. Simulation results reveal the effect of the leg inertia and that of its parts, respectively, on the dynamics of the complete system, and numerical examples show the effectiveness of the proposed method and the dynamic equations of the Stewart platform manipulator.

A Unified Approach to Solving Driving Forces in Spatial Parallel Manipulators With Less Than Six DOFs

2006 ◽  
Vol 129 (11) ◽  
pp. 1153-1160 ◽  
Author(s):  
Yi Lu ◽  
Bo Hu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Driving Forces ◽  
Virtual Work ◽  
Parallel Manipulators ◽  
Unified Approach ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Constrained Equations ◽  
Serial Mechanism

A unified approach to solving driving forces in spatial parallel manipulators with less than six DOFs is proposed. First, the geometric constrained equations of the parallel manipulators are derived, and some independent pose parameters and a common transformation matrix with three translations and three Euler rotations are determined. Second, the common formulas for solving inverse kinematics, the Jacobian matrix, and velocity are derived. Third, a common virtual serial mechanism with three virtual prismatic joints and three virtual revolute joints corresponding to three Euler rotations is constructed. Fourth, a common analytic formula for solving driving forces in spatial parallel manipulators with less than six DOFs is derived by using the principle of virtual work and the virtual serial mechanism. Finally, a 3-SPR parallel manipulator with three DOFs and a 4SPS+SPR parallel manipulator with five DOFs are presented to illustrate the use of the unified approach to solve their inverse kinematics and the driving forces. The solving results are verified by the simulation mechanisms.

Revisiting the inverse dynamics of the Gough–Stewart platform manipulator with special emphasis on universal–prismatic–spherical leg and internal singularity

2012 ◽  
Vol 226 (10) ◽  
pp. 2422-2439 ◽  
Author(s):  
Mohamed Afroun ◽  
Antoine Dequidt ◽  
Laurent Vermeiren
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Inverse Dynamics ◽  
Driving Forces ◽  
Stewart Platform ◽  
Inverse Dynamic ◽  
Computational Burden ◽  
Six Degrees Of Freedom ◽  
Leg Kinematics

This article discusses the dynamic modeling for control of Gough–Stewart platform manipulator with special emphasis on universal–prismatic–spherical leg kinematics. Inverse dynamic model of these six degrees of freedom parallel manipulator robots is reviewed, while complete dynamics with true kinematics of universal–prismatic–spherical legs is compared with several models found in the literature. Most existing models have not taken into account some of the legs kinematical effects, namely the legs angular velocity around their axes and the internal singularities due to passive joints; some other used a simplified parameterization to describe the leg kinematics. Furthermore, some kinetic assumption can be used to reduce the computational burden. This article shows the effect of all these simplifications on the driving forces by simulating the different dynamic models for a commercial manipulator and for different sets of geometric and dynamic parameters of manipulator.

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