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

Abstract

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.

Simplified approach for dynamics estimation of a minor mobility parallel robot

“…dynamics has been presented by Carbonari et al in [33]. In their work the authors focused on the simplification of the dynamics model built by means of virtual work principle [34], aimed at the realization of a non-linear model based control scheme. The main goal of that work was to produce a numerically efficient model, suitable for control tasks.…”

Kinematic analysis of a novel 3-CRU translational parallel mechanism

“…The workspace of the CICABOT was large and its workspace volume was limited by the size of the links, and both the inverse and direct kinematics were very simple to determine. The dynamics modeling of a translational 3-CPU was investigated via screw theory (Carbonari et al, 2013). The operation performance of a LARM leg mechanism with 3-UPU parallel architecture was studied in Wang et al (2015).…”

Reconfiguration for the Maximum Dynamic Wrench Capability of a Parallel Robot

“…Accordingly, the objective function is dynamic wrench capability that comprises the dynamic wrench force and wrench moment. Substituting Equation (20) together with its time derivative and Equation (22) into the equations of motion, Equation (19), gives rise to an inverse dynamics equation in true coordinates (p, γ B ):…”

“…Here, an inertial coordinate system N-frame, N In studying the optimal architecture of a reconfigurable parallel robot for maximum dynamic wrench capability, an appropriate inverse dynamics form is required. In comparing with other formatting algorithms for the dynamic equations of parallel robots, several methods such as the Newton-Euler formulation [12][13][14], virtual work principle [15,16], Kane's method [17], kinematic influence coefficient theory [18], screw theory [19], and the Lagrangian formulation in generalized coordinates [20][21][22] are proposed to model and simulate the dynamics of parallel manipulators. However, these expressions are not structured enough, and are not appropriate for the dynamic wrench capability analysis.…”