Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator

Abstract

Modeling and analysis of inverse kinematics and dynamics for a novel parallel manipulator are established in this article. The manipulator is a spatial mechanism, which consists of six identical kinematic chains connecting to the moving platform. Firstly, screw theory is applied to compute the degree of freedom of this manipulator. Then the inverse position is achieved based on the homogeneous coordinate transformation principle while motion law of the moving platform is given. Furthermore, the first-order influence coefficient method is employed to obtain the Jacobian matrices of the considered manipulator and the links, so do the velocities. Afterward, the rigid-body dynamics model is derived from the Lagrange formulation. To obtain the integrated inverse dynamics model, an approach for simplified flexible dynamics analysis is proposed. Finally, simulations are conducted to compute the position and driving force of this considered manipulator, which validate the new method simultaneously.

FI-NPI: Exploring Optimal Control in Parallel Platform Systems

“…There are two servo driving modes commonly used in a Six-Degrees of Freedom (6-DOF) parallel platform: a hydraulic rod [1,2] and a brushless DC motor with servo system [3][4][5]. Due to the high energy density of the hydraulic rod, the parallel platform driven by the hydraulic rod performs well in terms of dynamic performance, which is especially suitable for situations with high dynamic response requirements and heavy loads [6][7][8]. However, hydraulic platforms also have some disadvantages, such as their high cost, complex mechanical structure and hydraulic valve control structure, and the need for regular maintenance.…”

Kinematics Analysis and Trajectory Planning of 6-DOF Hydraulic Robotic Arm in Driving Side Pile

“…These sophisticated kinematic modeling and solving techniques prove instrumental in enhancing the accuracy and efficiency of pile adjustments during pile driver operations. For robotic arms with low degrees of freedom, solving inverse kinematics problems typically relies on geometric methods [17][18][19][20][21]. It is noteworthy that there is limited research on the motion challenges of the mechanical arm in side-clamp pile drivers.…”