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Task-based torque minimization of a 3-PṞR spherical parallel manipulator
Soheil Zarkandi
Journal:

Robotica / Volume 40 / Issue 3 / March 2022

Published online by Cambridge University Press:

07 June 2021, pp. 475-504
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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.