Kinematics and
dynamics of a six-degree-of-freedom parallel manipulator with revolute
legs

Zanganeh, Kourosh E.; Sinatra, Rosario; Ángeles, Jorge

doi:10.1017/s0263574797000477

Cited by 56 publications

(20 citation statements)

References 10 publications

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“…In order to perform dynamic analysis with less complexity, a technique known as the principle of virtual work is employed [14]. This method has been applied to the development of inverse dynamic models of the Stewart-Gough manipulator [16], the DELTA manipulator [15], and other special parallel manipulators [17,18].…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and control of the OMEGA-3 parallel manipulator

Adetu

Moore

Roberts

2009

2009 IEEE International Conference on Systems, Man and Cybernetics

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Parallel manipulators are widely used in industrial applications due to their rigid structures and ability to perform automated tasks at high speeds. However, because the links on a parallel manipulator are mechanically coupled, solving its kinematics and dynamics equations can be more difficult than for its serial counterpart. Nevertheless, the inverse kinematics and inverse dynamics models are a critical component of a manipulator's controller. Specifically, a more computationally simple formulation of the inverse kinematics and dynamics is necessary to achieve efficient and fast manipulator control. In this paper, both the inverse kinematics and dynamics equations for the Omega-3, a three degree-of-freedom (3-DOF) parallel manipulator, are developed. For the inverse kinematics problem, the concept of loop closure equations is used to simplify the analysis. The virtual work principle is used to create a numerically simple inverse dynamics model. Using the inverse kinematics and dynamics model, a trajectory tracking controller is implemented on the manipulator and the resulting experiments reveal good tracking behavior. (Abstract)

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Section: Introductionmentioning

confidence: 99%

Dynamic modeling and control of the OMEGA-3 parallel manipulator

Adetu

Moore

Roberts

2009

2009 IEEE International Conference on Systems, Man and Cybernetics

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“…Meanwhile, quite a few of special approaches have been conducted for dynamic modelling of specific parallel mechanism configurations [18]. Kane and Levinson [19] obtained some vector recursive relations concerning the equilibrium of generalized forces that are applied to a serial manipulator.…”

Section: Introductionmentioning

confidence: 99%

Inverse dynamics of the HALF parallel manipulator with revolute actuators

Staicu

Liu

2006

Nonlinear Dyn

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Recursive matrix relations for kinematics and dynamics of the HALF parallel manipulator are presented in this paper. The prototype of this robot is a spatial mechanism with revolute actuators, which has two translation degrees of freedom and one rotation degree of freedom. The parallel manipulator consists of a base plate, a movable platform and a system of three connecting legs, having wide application in the fields of industrial robots, simulators, parallel machine tools and any other manipulating devices where high mobility is required. Supposing that the position and the motion of the moving platform are known, an inverse dynamics problem is solved using the principle of virtual powers. Finally, some iterative matrix relations and graphs of the torques and powers for all actuators are analysed and determined. It is shown that this approach is an effective means for kinematics and dynamics modelling of parallel mechanisms.

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“…Another type of parallel mechanism is the Delta Robot which was synthesized in reference [3]. Some researchers have dwelt upon the kinematic aspect of this type of mechanism [4][5][6][7], others on the workspace [8]. In the present paper a parallel-type robot is synthesized and analysed.…”

Section: Introductionmentioning

confidence: 99%

Modelling and index analysis of a Delta-type mechanism

Hsu

Karkoub

Tsai

et al. 2004

Proceedings of the Institution of Mechanical Engineers, Part K:

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A new type of three-dimensional parallel robot with a human interface as well as parallel motion control of a platform manipulator actuated by three a.c. servomotors is presented in this paper. The performance of this parallel robot is analysed using its forward and inverse kinematics. The analysis is performed using known quantified and graphical performance synthesis tools. Computer simulations of the parallel robot system have shown good correlation between physical interpretations and the results of using the theoretical analysis tools.

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Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs

Cited by 56 publications

References 10 publications

Dynamic modeling and control of the OMEGA-3 parallel manipulator

Dynamic modeling and control of the OMEGA-3 parallel manipulator

Inverse dynamics of the HALF parallel manipulator with revolute actuators

Modelling and index analysis of a Delta-type mechanism

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