A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model

Abstract

Dynamic models of several mechanical systems are used for the analysis of specific robotic mechanisms. Two different situations may be encountered. The first situation is when the robot’s command system, based on Lagrange’s differential equations, calculates the corrections of command parameters of the actuators at short intervals of time. This model includes both the characteristics of the mechanical structure and those of the actuators and transmission. A second situation is encountered during the motion planning, when a model is needed to calculate both engine parameters and inertial forces which are applied to the mechanical system during the operation. Consequently, in this study, a d’Alembert-Newton model is used for extended dynamic analysis of a new constructive solution of a parallel mechanism. The dynamic model of a HEXA parallel mechanism has been developed using the abovementioned theory, and further, the dynamic inverse solution has been obtained. The numerical results were obtained using an original algorithm. This dynamic model allows the estimation of power absorbed by each actuator and also the loading control for each kinematic chain of the HEXA parallel mechanism. Knowing the variation of driving torque, for all the six actuators of the mechanism, allows the user to choose an optimal trajectory, such as avoiding excessive loading of a single kinematic chain.

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