Simplified approach for dynamics estimation of a minor mobility parallel robot

Carbonari, Luca

doi:10.1016/j.mechatronics.2015.06.005

Cited by 14 publications

(4 citation statements)

References 32 publications

(45 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Because $ t,e in Eq. (10) does not depend on the indices i and j of the summations, Eq. ( 10) can also be expressed as…”

Section: Novel Jacobian-based Inertia Analysis Methodsmentioning

confidence: 99%

“…For a fast and effective search of the design space of a parallel manipulator, closed-form expressions for the stiffness and inertia models are desired. One approach to develop such models is through polynomial fitting, as for example done by Carbonari [10]. A disadvantage of this method is that it can only be applied after a manipulator has already been realized.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Jacobian-based natural frequency analysis of parallel manipulators

Hoevenaars

Krut

Herder

2020

Mechanism and Machine Theory

View full text Add to dashboard Cite

“…Because $ t,e in Eq. (10) does not depend on the indices i and j of the summations, Eq. ( 10) can also be expressed as…”

Section: Novel Jacobian-based Inertia Analysis Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Jacobian-based natural frequency analysis of parallel manipulators

Hoevenaars

Krut

Herder

2020

Mechanism and Machine Theory

View full text Add to dashboard Cite

“…It represents the relationship between the driving force/torque and the variables of joints. e dynamic equations can be established by means of the principle of virtual work [33], the Lagrange method [34], the Newton-Euler method [35] and Kane formulation [36], and so on. Assuming the upper platform is a rigid body, and ignoring friction force of the kinematic joints as well as the uncertainties and external disturbances.…”

Section: Controller Designmentioning

confidence: 99%

Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

et al. 2020

View full text Add to dashboard Cite

Parallel manipulators possess the advantages of being compact structure, high stiffness, stability and high accuracy, so such parallel manipulators have been widely employed in application fields as diverse as parallel kinematic machine, motion simulator platform, medical rehabilitation device, and so on. Due to the complexity of the closed-loop structural system, an accurate dynamic model is very difficult to be derived in the absence of some uncertainties parameters and external disturbances. In order to improve the trajectory tracking accuracy with time-varying and nonlinear parameters, this paper addresses the design and implement of adaptive fuzzy sliding mode control (AFSMC) for a three-degree-of-freedom (DOF) parallel manipulator, where internal force term can be linearly separated into a regression matrix and a parameter vector that contains the estimated errors. Furthermore, fuzzy inference unit is utilized to modify the gain parameters in real-time by using the state feedback from the task space and the adaptive law is performed to update uncertainties in dynamic parameters. The proposed controller is deduced in the sense of Lyapunov theory to guarantee the stability while improving the trajectory tracking performance. Finally, simulation experiment results demonstrate that the proposed control method is insensitive to uncertainties and disturbances and permits to decrease the requirement for the bound of these uncertainties, which validate the effectiveness of the developed control method and exhibit good trajectory tracking performance compared with sliding mode control (SMC) and fuzzy sliding model control (FSMC).

show abstract

“…To propose a general and concise dynamics modeling method, Orsino et al [13][14][15] proposed a modular modeling methodology for parallel robots, where any restriction concerning either the space index or the number of degrees of freedom does not need to be considered. Considering the contribution of different torque components, Carbonari 16 proposed a polynomial simplified dynamics model for the 3-central processing unit class of parallel robots by fitting the actual behavior of the robot prototype, which shows substantial reliability of the model in non-static conditions and advantages in terms of computation time. Considering the motion ranges of the legs are smaller than those of the moving platform and the sliders, Gao et al 17 proposed a simplified modeling method for the 3-PRRR/PPRR (P-Prismatic, R-Revolute) redundantly actuated parallel mechanism, where the mass of the legs are divided into two parts and concentrated in the moving platform and the sliders, respectively.…”

Section: Introductionmentioning

confidence: 99%

A hierarchical approach for rigid-body dynamics model simplification of a high-speed parallel robot by considering kinematics performance

Mei

2021

Science Progress

View full text Add to dashboard Cite

Considering the real-time control of a high-speed parallel robot, a concise and precise dynamics model is essential for the design of the dynamics controller. However, the complete rigid-body dynamics model of parallel robots is too complex for online calculation. Therefore, a hierarchical approach for dynamics model simplification, which considers the kinematics performance, is proposed in this paper. Firstly, considering the motion smoothness of the end-effector, trajectory planning based on the workspace discretization is carried out. Then, the effects of the trajectory parameters and acceleration types on the trajectory planning are discussed. But for the fifth-order and seventh-order B-spline acceleration types, the trajectory will generate excessive deformation after trajectory planning. Therefore, a comprehensive index that considers both the motion smoothness and trajectory deformation is proposed. Finally, the dynamics model simplification method based on the combined mass distribution coefficients is studied. Results show that the hierarchical approach can guarantee both the excellent kinematics performance of the parallel robot and the accuracy of the simplified dynamics model under different trajectory parameters and acceleration types. Meanwhile, the method proposed in the paper can be applied to the design of the dynamics controller to enhance the robot's performance.

show abstract

Simplified approach for dynamics estimation of a minor mobility parallel robot

Cited by 14 publications

References 32 publications

Jacobian-based natural frequency analysis of parallel manipulators

Jacobian-based natural frequency analysis of parallel manipulators

Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

A hierarchical approach for rigid-body dynamics model simplification of a high-speed parallel robot by considering kinematics performance

Contact Info

Product

Resources

About