Optimal path planning for a new type of 6RSS parallel robot based on virtual displacements expressed through Hermite polynomials

Milica, Lucian; Năstase, Alexandru; Andrei, Gabriel

doi:10.1016/j.mechmachtheory.2018.03.015

Cited by 7 publications

(7 citation statements)

References 13 publications

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“…According to Figure 6, A and C are the ends of the interval of a Hermite HðqÞ polynomial function. 23 The length of trajectory L C is 869.14 mm and was divided into 72 equal segments. The total displacement time, T AC , was 2 s. The dynamic model exposed was realized in the hypothesis of small frictional forces that could be neglected in the equilibrium equations.…”

Section: Torsor Of Inertial Forcesmentioning

confidence: 99%

“…According to Figure 2(a), let us consider one of the six kinematic k chains of the 6RSS parallel mechanism. 23 Each linking rod has local mobility (given by the rotation around the axis AkBk), independent motion relative to other possible motions of the mechanism. By eliminating the local mobilities and replacing the spherical joint from point B with a fourth-class joint type, a kinematic chain as shown in Figure 2(b) is obtained with the same degree of mobility (M=6) as the initial mechanism with structural formula 6RSU.…”

Section: Dynamic Model Of the Hexa Parallel Mechanismmentioning

confidence: 99%

“…Using the original code written in Matlab, with regard to the kinematic modeling of the mechanisms, the inertia matrices of the mobile elements of the mechanism, as well as the position, velocity and acceleration of their center of gravity have been determined when the characteristic point was moving on the curve described by the Hermite function, H(q). 23…”

Section: Dynamic Model Of the Hexa Parallel Mechanismmentioning

confidence: 99%

“…The calculation methodology for kinematic model was previously published by the authors. 23 The final expression for power resulting from inertial forces is…”

Section: Introductionmentioning

confidence: 99%

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A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model

Milica

Năstase

Andrei

2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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Dynamic models of several mechanical systems are used for the analysis of specific robotic mechanisms. Two different situations may be encountered. The first situation is when the robot’s command system, based on Lagrange’s differential equations, calculates the corrections of command parameters of the actuators at short intervals of time. This model includes both the characteristics of the mechanical structure and those of the actuators and transmission. A second situation is encountered during the motion planning, when a model is needed to calculate both engine parameters and inertial forces which are applied to the mechanical system during the operation. Consequently, in this study, a d’Alembert-Newton model is used for extended dynamic analysis of a new constructive solution of a parallel mechanism. The dynamic model of a HEXA parallel mechanism has been developed using the abovementioned theory, and further, the dynamic inverse solution has been obtained. The numerical results were obtained using an original algorithm. This dynamic model allows the estimation of power absorbed by each actuator and also the loading control for each kinematic chain of the HEXA parallel mechanism. Knowing the variation of driving torque, for all the six actuators of the mechanism, allows the user to choose an optimal trajectory, such as avoiding excessive loading of a single kinematic chain.

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Section: Torsor Of Inertial Forcesmentioning

confidence: 99%

Section: Dynamic Model Of the Hexa Parallel Mechanismmentioning

confidence: 99%

Section: Dynamic Model Of the Hexa Parallel Mechanismmentioning

confidence: 99%

“…The calculation methodology for kinematic model was previously published by the authors. 23 The final expression for power resulting from inertial forces is…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model

Milica

Năstase

Andrei

2019

Proceedings of the Institution of Mechanical Engineers, Part K:

Self Cite

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“…The acceleration profile of end-effector was planned as the polynomial of 7 th -degree. Milica et al [7] presented the method for determining the optimal trajectory of a parallel robot. The Hermite polynomial expressions were used as the time function of geometrical parameters.…”

Section: Introductionmentioning

confidence: 99%

Mapping Accuracy of Trajectories of Manipulator Motion

Boryga

Kołodziej

Graboś³

et al. 2018

ITM Web Conf.

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The paper presents the algorithm for trajectory planning and the analysis of motion accuracy of an anthropomorphic manipulator whose the end-effector moves over the rectilinear-arc path. The path consists of two rectilinear segments of intersecting directions coupled with the arc of a fixed radius. On these rectilinear segments, the end-effector acceleration is described by a polynomial of 7th-degree. The motion over the arc proceeds at a constant velocity. The dynamic analysis was carried out on the basis of Lagrange’s equations of the second order. Manipulator flexibility and damping were considered according to the Kelvin-Voigt model introducing spring-damping components into the drive system. The simulation test results were presented in the form of spatial courses of the pre-assigned and realized trajectories as well as time courses of trajectory end-effector mapping errors for three paths with different radii of the arc.

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Optimization of dynamic load distribution of a serial-parallel hybrid humanoid arm

Wang

Chen

et al. 2020

Mechanism and Machine Theory

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Optimal path planning for a new type of 6RSS parallel robot based on virtual displacements expressed through Hermite polynomials

Cited by 7 publications

References 13 publications

A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model

A novel algorithm for the absorbed power estimation of HEXA parallel mechanism using an extended inverse dynamic model

Mapping Accuracy of Trajectories of Manipulator Motion

Optimization of dynamic load distribution of a serial-parallel hybrid humanoid arm

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