Complete dynamic modelling of a moving base 6-dof parallel manipulator

Abstract

SUMMARYIn this paper a new approach based on the generalized momentum is used to obtain the dynamic model of a six degrees-of-freedom (dof) parallel manipulator. First, the system dynamic equations are obtained supposing the manipulator base platform is fixed. Afterwards, the dynamic model is extended to the case of a moving base platform. This could be important in a macro/micro robotic application, where a small manipulator is attached in series to a big manipulator. Simulation results of a macro/micro robotic system are presented and the contribution of the base platform motion to the total actuating forces is shown.

Dimensional optimization of the Stewart platform based on inertia decoupling characteristic

“…Based on different mechanical principles, several methods exist for establishing a dynamic model such as the Newton-Euler method, 8 the Lagrange formulation, 9 the principle of virtual work, 10 the Kane method, 11 and the generalized momentum approach. 12 In general, inverse dynamic formulations fall into one of the two categories: joint space dynamics and task space dynamics. Since the driving forces of a parallel manipulator are generated by servomotors mounted on the legs, the joint space inverse dynamic equation describes the relationship between the forces and accelerations of drivers at a given configuration and is adopted in the present paper to analyze inertia.…”

Passivity analysis and modeling of robotic arms

“…Hay algunos artículos, los cuales consideran características importantes de los brazos robóticos como [2], [4], [5], [6], [8], [9], [11], [14], y [16]. En el artículo de [2], se trata con el modelado de la dinámica y el análisis del desempeño de un mecanismo con pala en un robot de cocina.…”

“…En [6], se propone una red neuronal para excluir la dinámica de un brazo reduntante en la ley de control, el cual usa esta dinámica en su diseño. En [8], se muestra un enfoque que se usa para obtener la dinámica de un modelo en un manipulador paralelo. En [9], se expone un enfoque unificado y sencillo para resolver la dinámica de un manipulador paralelo limitado con piernas activadas lineales.…”

Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms

“…Gao et al (2010) proposed a novel 3DOF parallel manipulator and they increased the stiffness of their system, using an optimization technique. Lopes (2010) introduced a new 6-DOF moving base platform, which is capable of being used in micro robotic applications after processing serial combination with another industrial manipulator. It is in fact a nonredundant parallel mechanism with 6 linear actuators.…”