Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator

Abstract

Parallel Kinematic Machines (PKMs) are being widely used for precise applications to achieve complex motions and variable poses for the end effector tool. PKMs are found in medical, assembly and manufacturing industries where accuracy is necessary. It is often desired to have a compact and simple architecture for the robotic mechanism. In this paper, the kinematic and dynamic analysis of a novel 3-PRUS (P: prismatic joint, R: revolute joint, U: universal joint, S: spherical joint) parallel manipulator with a mobile platform having 6 Degree of Freedom (DoF) is explained. The kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg (DH) technique considering both active and passive joints. The kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace. A Jacobian based stiffness analysis is done to understand the variations in stiffness for different poses of the mobile platform and further, it is used to decide trajectories for the end effector within the singularity free region. The analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system constraints. The gravity and inertial forces of all links are considered in the mathematical model. The analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.

Dynamic accuracy analysis of a 5PSS/UPU parallel mechanism based on rigid-flexible coupled modeling

“…The moving position and pose errors of the moving platform after calibration can be calculated along the trajectory in Eq. (7). As shown in Fig.…”

“…Compared with the serial mechanism, the parallel mechanism has advantages of greater stiffness, higher precision, reduced inertia, and higher payload to weight ratio [1][2][3][4]. It has been widely used in aerospace, food processing, vehicle and ship industry, and medical equipment fields [5][6][7][8].…”

Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras

“…At present, the research hotspots of robotics are still focused on the lightweight design and compliance control [2,3]. However, although advanced control algorithms and drive technologies have expanded the application of robots, their further application is limited by the inherent characteristics of typical robots [4].…”

“…The serial mechanism with a large workspace and flexible movement is the typical configuration of robots [4]. The serial robot with joint actuators mounted has a bulky mechanical structure, large moment of inertia, and low payload to weight ratio.…”

Study of a New 5-DOF Parallel Mechanism for Multi-Directional 3D Printing

“…With the development of parallel mechanism, the analysis of singularity and optimization of workspace of parallel mechanism have become a hot research topic. J. Wang [17] used a 4 × 4 Jacobian matrix to analyze the singularity of a spatial 4-DOF parallel mechanism; J. Gallardo-Alvarado et al [18] analyzed the singular configuration of a 4-DOF parallel robot by using the screw theory; Sheng Guo et al [19] analyzed the singularity of a 4-RRCR parallel mechanism using srew theory; Thomas, M.J. [20] used a numerical based algorithm to determine the singular points within the workspace of the 3-PRUS mechanism by determining points where the determinant of the Jacobian becomes zero; Wolf [21] analyzed the singularity of two kinds of 3-DOF parallel robots by using the Grassmann line geometry method; Chunxu Tian et al [22] analyzed singularities of a partially decoupled generalized parallel mechanism for 3T1R motion; Zongjie Tao et al [23] deveoped system design methodology (LIDeM) for reducing interference among links and increasing workspace of mechanism; Liping Wang et al…”