Dynamics of parallel manipulators by means of screw theory

Gallardo, Jaime; Rico, José M.; Frisoli, Antonio; Checcacci, Damaso; Bergamasco, Massimo

doi:10.1016/s0094-114x(03)00054-5

Cited by 216 publications

(97 citation statements)

References 12 publications

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“…It is shown in [25] that the power w j,i produced by F j,i that acts on the j body of the i-th chain with velocity state 0 V j,i * , whose reference pole is its center of mass, can be determined by:…”

Section: Inverse Dynamic Analysismentioning

confidence: 99%

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Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

2016

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Abstract:In this contribution, a novel translational parallel robot composed of an arrangement of mechanisms with planar motion is presented. Its mobility is analyzed and the position analysis is solved by using equations derived from mechanical constraints. Furthermore, the analysis of velocity and acceleration are solved by means of the screw theory. For completeness, the inverse dynamics are also presented and solved by means of an interesting combination of the screw theory and the virtual work principle. Finally, a numerical example is included to show the application of the kinematic model, which is verified with the aid of a commercially available software.

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Section: Inverse Dynamic Analysismentioning

confidence: 99%

“…where $ 1 j,i , $ 2 j,i and $ 3 j,i are called partial screws [25,26]. Thus, Equation (25) can be rewritten as follows:…”

Section: Inverse Dynamic Analysismentioning

confidence: 99%

Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

2016

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“…When the base platform vibrates with wind-induced cablecar, the vibrations of the stabilized platform can be alleviated by adjusting the six actuators with appropriate control laws. Most of the available studies on dynamics and control of Stewart platform (Geng et al, 1992;Lebret et al, 1993;Dasgupta and Mruthyunjaya, 1998;Liu et al, 2000;Gallardo et al, 2003;Mukherjee et al, 2007;Lopes, 2009;Li et al, 2012) deals with the case that the base platforms are fixed but for this application the dynamics and control of the mechanism are different from the available analyses.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis and vibration control of a multi-body system using MSC Adams

Alam

Akhlaq

Rahman

2015

Lat. Am. j. solids struct.

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In this paper, modelling and simulation of a multi-body system for its vibration control using sensors and actuators is presented. The model developed on MSC ADAMS consists of six legs connecting moving and base plates using spherical joints with axial rotation of legs constrained. It contains linear actuator collocated with force sensor. Mathematical model of the mechanism representing the Kinematic and Dynamic analysis of model is presented. The Leg Length variation obtained using MATLAB is obtained in order to validate the model developed in MSC ADAMS. Natural frequencies for six different mode shapes are obtained from vibration excitation analysis. A decentralized force feedback controller which uses PID control law with single gain is used for actively attenuating the vibration, which is coming from base platform. The transfer function, defined as the ratio of Laplace transformation of the acceleration of moving plate and base plate, is considered as a measure of isolation. Effect of proportional, derivative and integral feedback is studied separately and together as well. A significant isolation in the resonance transmissibility and natural frequency of the mechanism is demonstrated.

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“…15 Gallardo analyzed dynamics of PMs by screw theory. 16 Dai et al 17 analyzed statics of some over constrained PMs. Lu, 18 Gregorio, 19 and Huang 20 studied kinematics and statics of some 3-DoF PMs with UPU-type legs using different approaches.…”

Section: Introductionmentioning

confidence: 99%

Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg

Lü

Zhang²,

Sui

et al. 2012

Robotica

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SUMMARYA novel 3-leg 5-DoF parallel manipulator (PM) with a UPU-type composite active constrained leg is proposed and its kinematics and statics are analyzed systematically. First, the formulae are derived for solving the inverse/forward displacements, inverse/forward velocities, and active/constraint forces. Second, the formulae are derived for solving inverse/forward accelerations. Third, a simulation mechanism of this PM is created and its workspace is constructed and analyzed. Finally, the analytic results are verified by its simulation mechanism. The line from a i to o, e i = e.The line fromThe active leg and its length. l i , L i The side of m and B. P, S The prismatic joint and the spherical joint. R jThe revolute joints (j = 1, 2, 3, 4).The universal joint with R 1 and R 2. U BThe universal joint with R 3 and R 4. {m} Coordinate frame o-xyz fixed on m. {B} Coordinate frame O-XYZ fixed on B. v riThe input velocity of active leg. e, E The distances from a i to o and from A i to O. F, T The concentrated force and torque applied on m at o. F aiThe active forces applied on and along r i. T aThe active torque applied on R 1. T λThe active torque applied on R 4. F c , T c The constrained force and the constrained torque. T bThe bending moment exerted on r 2. Rotational matrix from {m} to {B}. J, HThe Jacobian matrix and Hessian matrix.

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Dynamics of parallel manipulators by means of screw theory

Cited by 216 publications

References 12 publications

Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

Dynamic analysis and vibration control of a multi-body system using MSC Adams

Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg

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