Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

Hu, Bo; Yu, Jinpeng; Lü, Yi

doi:10.1017/s0263574714001817

Cited by 11 publications

(4 citation statements)

References 22 publications

(52 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Chen et al 8 deduced the rigid flexible coupling dynamic model of 3-RRR planar parallel mechanism based on the Kane equation. Hu et al 9 deduced the velocity mapping matrix of (3 UPU) + (3UPS + S) serial parallel robot, established the dynamic model based on the virtual work principle, which achieved the calculation formula of the driving force.…”

Section: Introductionmentioning

confidence: 99%

The neural network terminal sliding mode control for the 3-RRC parallel robot

Guo

Chen

Yan

2022

Advances in Mechanical Engineering

View full text Add to dashboard Cite

In this paper, the 3 degrees of freedom (3-DOF) parallel robot (3-RRC) is taken as the research object. The Lagrange method is used to establish the reduced order dynamic equations of three branch chains. On the basis of the U-K (Udwadia-Kalaba) equation, the analytical expressions of ideal and non-ideal constrained forces are obtained. Then the complete dynamic model of 3-RRC parallel robot is established. In order to achieve high precision control of 3-RRC parallel robot, and fully considering the uncertainty of non-ideal constrained force and chattering problem in terminal sliding mode control algorithm, the neural network is used to adaptively adjust the gain of switching function and achieve universal approximation of the unknown non-ideal constrained force. The neural network terminal sliding mode control algorithm is proposed for the complete dynamic model of 3-RRC parallel robot, and the stability of the control system is proved by Lyapunov theorem. Finally, the simulation research is conducted on the 3-RRC parallel robot. Simulation results show that the tracking precision of angle positions and non-ideal constrained forces are all reached 10−2 order, which realize the high precision control of the 3-RRC parallel robot, weaken the chattering phenomenon, and verify the correctness and effectiveness of the proposed dynamic model and control algorithm.

show abstract

Section: Introductionmentioning

confidence: 99%

The neural network terminal sliding mode control for the 3-RRC parallel robot

Guo

Chen

Yan

2022

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…23,24 Lu et al 25 deduced the dynamic model of a novel 5-DOF parallel mechanism with a coupling constraint couple and verifies the calculation results. Hu et al 26 studied the inverse dynamics of a novel (3-UPU)+(3-UPS+S) series-parallel hybrid mechanism. Based on the principle of virtual work, the dynamic model of the mechanism is established.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Mobility Analysis of the 3-R(RRR)R+R Antenna Mechanism

et al. 2021

View full text Add to dashboard Cite

SUMMARY A novel 3-R(RRR)R+R (R as revolute joint) hybrid antenna mechanism (HAM) is proposed for noncircular polarized antenna. First, its mobility characteristic is analyzed. Besides, its kinematics is deduced, and the velocity and acceleration are obtained. Afterward, its dynamic model is established. The actuation torques of each actuation joint are obtained. Its actuation torques are verified by mathematical model analysis and dynamic simulation. Furthermore, its workspace is also presented. Finally, the motion characteristics experimental results show that the 3-R(RRR)R+R HAM can carry out the azimuth and pitch motion. This research work serves as a fundamental theoretical basis for its further application.

show abstract

“…Kinematics and dynamics are fundamental topics in mechanism theory [8][9][10][11][12][13][14][15][16][17][18]. In the previous kinematics/dynamics researches of S-PMs, the formulae for solving the forward kinematics and driving forces are derived.…”

mentioning

confidence: 99%

“…However, up to now, the inverse kinematics/dynamics problem of S-PMs were not effectively solved. Only few efforts were attempted to some S-PMs with simple structures based on their specific properties [18]. In addition, most of the previous works for the kinematics/dynamics of S-PMs adopted numerical method while the analytical solutions were not derived, which was not enough to guide the structure design of S-PMs.…”

mentioning

confidence: 99%

Unified solving inverse dynamics of 6-DOF serial–parallel manipulators

2015

Applied Mathematical Modelling

Self Cite

View full text Add to dashboard Cite

a b s t r a c tThe unified inverse dynamics model of serial-parallel manipulators (S-PMs) formed by two parallel manipulators (PMs) connected in series is systematically established based on the constraint and the coupling characteristics of the single PMs in the S-PM. First, the common formulas for solving inverse kinematics of S-PMs is derived. Second, the inverse dynamics model is established based on the principle of virtual work. Finally, a novel (UPR + RPS + SPS) + (3-SPS/UP) S-PM is analyzed to illustrate the generality and effectiveness of the solving procedures.

show abstract

Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

Cited by 11 publications

References 22 publications

The neural network terminal sliding mode control for the 3-RRC parallel robot

The neural network terminal sliding mode control for the 3-RRC parallel robot

Dynamic Modeling and Mobility Analysis of the 3-R(RRR)R+R Antenna Mechanism

Unified solving inverse dynamics of 6-DOF serial–parallel manipulators

Contact Info

Product

Resources

About