Hostname: page-component-78c5997874-4rdpn Total loading time: 0 Render date: 2024-11-13T12:23:40.985Z Has data issue: false hasContentIssue false
  • English
  • Français

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

Published online by Cambridge University Press:  04 July 2014

Bo Hu ,
Jingjing Yu  and
Yi Lu
Bo Hu*
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P. R. China
Jingjing Yu
Affiliation:
Department of Mechanics and Electronics, Heibei Normal University of Science & Technology, Qinhuangdao, Hebei 066004, P. R. China
Yi Lu
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

The 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.

Keywords

DynamicsKinematicsSerial-parallel manipulators
Type
Articles
Information
Robotica , Volume 34 , Issue 3 , March 2016 , pp. 687 - 702
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Merlet, J.-P., Parallel Robots (Kluwer Academic Publishers, Dordrecht, the Netherlands, 1999).Google Scholar
2.Tanev, T., “Kinematics of a hybrid (parallel–serial) robot manipulator,” Mech. Mach. Theory 35 (9), 1183–1196 (2000).CrossRefGoogle Scholar
3.Romdhane, L., “Design and analysis of a hybrid serial-parallel manipulator,” Mech. Mach. Theory 34 (7), 1037–1055 (1999).CrossRefGoogle Scholar
4.Zheng, X. Z., Bin, H. Z. and Luo, Y. G., “Kinematic analysis of a hybrid serial-parallel manipulator,” Int. J. Adv. Manuf. Technol. 23 (11–12), 925–930 (2004).CrossRefGoogle Scholar
5.Lu, Y. and Hu, B., “Analyses of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial-parallel manipulator,” Multibody Syst. Dyn. 21 (4), 361–370 (2009).CrossRefGoogle Scholar
6.Hu, B., Zhuang, S.et al., “Kinematics, statics and stiffness analysis of n(4-SPS+SP) S-PM,” Int. J. Robot. Autom. 27 (3), 287–297 (2012).Google Scholar
7.Hu, B., Yu, J.et al., “Statics and stiffness model of serial–parallel manipulator formed by k parallel manipulators connected in series,” J. Mech. Robot. 4 (2), 021012 (2012).CrossRefGoogle Scholar
8.Gallardo-Alvarado, J., Aguilar-Nájera, C.et al., “Kinematics and dynamics of 2(3-RPS) manipulators by means of screw theory and the principle of virtual work,” Mech. Mach. Theory 43 (10), 1281–1294 (2008).CrossRefGoogle Scholar
9.Gallardo-Alvarado, J., Orozco, H.et al., “A new spatial hyper-redundant manipulator,” Robot. Comput.-Integr. Manuf. 25 (4–5), 703–708 (2009).CrossRefGoogle Scholar
10.Liang, C. and Ceccarelli, M., “Design and simulation of a waist–trunk system for a humanoid robot,” Mech. Mach. Theory 53, 50–65 (2012).CrossRefGoogle Scholar
11.Liang, C., Ceccarelli, M. and Carbone, G., “Experimental characterization of operation of a waist–trunk system with parallel manipulators,” Chin. J. Mech. Eng. 24 (5), 713–722 (2011).CrossRefGoogle Scholar
12.Dasgupta, B. and Mruthyunjaya, T. S., “A Newton–Euler formulation for the inverse dynamic of the Stewart platform manipulator,” Mech. Mach. Theory 33 (8), 1135–1152 (1998).CrossRefGoogle Scholar
13.Ji, Z., “Dynamics decomposition for Stewart platforms,” ASME J. Mech. Des. 116 (1), 67–69 (1994).CrossRefGoogle Scholar
14.Lee, K. M. and Shah, D. K., “Dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator,” IEEE J. Robot. Autom. 4 (3), 361–367 (1988).CrossRefGoogle Scholar
15.Abdellatif, H. and Heimann, B., “Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism,” Mech. Mach. Theory 44 (1), 192–207 (2009).CrossRefGoogle Scholar
16.Tsai, L. W., “Solving the inverse dynamic of a Stewart-Gough manipulator by the principle of virtual work,” Trans. ASME J. Mech. Des. 122 (1), 3–9 (2000).CrossRefGoogle Scholar
17.Wang, J. and Gosselin, C. M., “A new approach for the dynamic analysis of parallel manipulators,” Multibody Syst. Dyn. 2 (3), 317–334 (1998).CrossRefGoogle Scholar
18.Gallardo, J., Rico, J. M.et al., “Dynamics of parallel manipulators by means of screw theory,” Mech. Mach. Theory 38 (11), 1113–1131 (2003).CrossRefGoogle Scholar
19.Staicu, S., “Dynamics of the 6–6 Stewart parallel manipulator,” Robot. Comput.-Integr. Manuf. 27 (1), 212–220 (2011).CrossRefGoogle Scholar
20.Liu, M., Li, C. and Li, C., “Dynamics analysis of the Gough-Stewart platform manipulator,” IEEE Trans. Robot. Autom. 16 (1), 94–98 (2000).Google Scholar
21.Wang, S., Hikita, H.et al., “Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints,” Mech. Mach. Theory 38 (5), 439–461 (2003).CrossRefGoogle Scholar
22.Lu, Y. and Hu, B., “Analysis of kinematics and solution of active/constrained forces of asymmetric 2UPU+X parallel manipulators,” Proc. Inst. Mech. Eng. C 220 (12), 1819–1830 (2006).CrossRefGoogle Scholar
23.Lu, Y. and Hu, B., “Kinematics/statics analysis of some limited-dof parallel manipulators by a block. Diagram modeling system,” Int. J. Comp. Aided Eng. Technol. 1 (1), 65–80 (2008).CrossRefGoogle Scholar