Closed-form Dynamic Equations of the 6-RSS Parallel Mechanism through the Newton-Euler Approach

Li, Kunquan; Rui, Wen

doi:10.1109/icmtma.2011.180

Cited by 9 publications

(3 citation statements)

References 7 publications

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“…It is a common approach to benefit from mathematical models when using these control methods. When performing dynamic analysis of robots, energybased models such as Lagrange-Euler [6][7][8][9][10] or forcebased models such as Newton-Euler [11] occupy a wide range in the literature. Whether the model created during the use of mathematical models fully meets the system is a very important criterion [12].…”

Section: Introduction *mentioning

confidence: 99%

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Design, Analysis and Simulation of a 6-DOF Serial Manipulator

Yilmaz

Yılmaz

Bingül

2020

Kocaeli Journal of Science and Engineering

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Within the scope of this study, firstly, the mechanical structure of a six-axis serial manipulator was designed. Forward kinematic analysis was made using the Denavit-Hartenberg method, which provides the transition between cartesian coordinates, that is, the linear and angular positions of the end-effector, and joint coordinates; joint angles and linear displacements. In addition, to obtain the relation between the speed of joint variables and the speed of end effector, Jacobian matrix was derived. Dynamic analysis of the system based on Lagrange-Euler mathematical model was acquired. After the design phase was carried out in three-dimensional environment, the physical system-based dynamic model was obtained by transferring this data to the MATLAB-Simscape environment. Inverse dynamic problem was solved to verificate the 3D design of robot and suitability of selected motors. To solve this problem, position, and velocity and acceleration trajectories was given to the dynamic model. As a result of this, each joint torques were obtained. The trajectories used in inverse dynamics were calculated using a fifth order polynomial function. Afterwards, in order to test the operation of the system in a simulated environment, PID based controller structures were applied to the dynamic model in MATLAB/Simulink simulation environment and forward dynamic problem was reviewed and discussed.

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Section: Introduction *mentioning

confidence: 99%

“…G is the gravity vector which hosts the gravitational forces. The total kinetic energy of a system can be given as follows; , i n i m i i ω i i ω i (11) In Eq. ( 11), m i and I i are the mass and inertia matrix of i-th link respectively.…”

mentioning

confidence: 99%

Design, Analysis and Simulation of a 6-DOF Serial Manipulator

Yilmaz

Yılmaz

Bingül

2020

Kocaeli Journal of Science and Engineering

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“…The traditional Newton-Euler formulation, which has been widely used in the past (Do and Yang, 1988;Dasgupta and Mruthyunjaya, 1998) and is still used for specific tasks by some researchers (Kunquan and Rui, 2011;Khalil and Ibrahim, 2007), hardly adapts to the particular case of parallel kinematics machines.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modelling of a 3-CPU parallel robot via screw theory

et al. 2013

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Abstract. The article describes the dynamic modelling of I.Ca.Ro., a novel Cartesian parallel robot recently designed and prototyped by the robotics research group of the Polytechnic University of Marche. By means of screw theory and virtual work principle, a computationally efficient model has been built, with the final aim of realising advanced model based controllers. Then a dynamic analysis has been performed in order to point out possible model simplifications that could lead to a more efficient run time implementation.

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Inverse Dynamics Analysis of a 6-PSS Parallel Manipulator

et al. 2014

Intelligent Robotics and Applications

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Closed-form Dynamic Equations of the 6-RSS Parallel Mechanism through the Newton-Euler Approach

Cited by 9 publications

References 7 publications

Design, Analysis and Simulation of a 6-DOF Serial Manipulator

Design, Analysis and Simulation of a 6-DOF Serial Manipulator

Dynamic modelling of a 3-CPU parallel robot via screw theory

Inverse Dynamics Analysis of a 6-PSS Parallel Manipulator

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