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International Conference on Intelligent Robotics and Applications

ICIRA 2009: Intelligent Robotics and Applications pp 580–591Cite as

Inverse Dynamic Modeling of Two Unsymmetrical 3UPU Parallel Manipulators

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5928))

Abstract

The inverse dynamic of two 3UPU parallel manipulators (PM) are analyzed in this paper. The first 3UPU PM has three translational degree of freedom (DOF) and the second 3UPU PM has two translational and one rotational DOF. First, the mobility of the two UPU PMs is analyzed. Second, the constrained forces/torques in UPU-type legs are determined, and the 6×6 Jacobian matrices of the two 3UPU PMs are derived by considering the constrained forces/torques. Third, based on the principle of virtual work, the dynamic is solved with the active forces and the constrained forces/torques derived. Finally, an analytic solved example for the 3UPU PM is given.

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Author information

Authors and Affiliations

  1. College of Mechanical Engineering, Yanshan University, 066004, Qinhuangdao, China

    Bo Hu & Yi Lu

  2. E&A College Of Hebei Normal University of Science & Technology, 066004, Qinhuangdao, China

    Haixia Mao

Authors
  1. Bo Hu
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  2. Yi Lu
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  3. Haixia Mao
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Editor information

Editors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore

    Ming Xie

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Youlun Xiong

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P.R. China

    Caihua Xiong

  4. Institute of Industrial Research, University of Portsmouth, PO1 3QL, Portsmouth, UK

    Honghai Liu

  5. Department of Computer Science and Electrical Engineering, Kumamoto University, 860-8555, Kumamoto, Japan

    Zhencheng Hu

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© 2009 Springer-Verlag Berlin Heidelberg

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Cite this paper

Hu, B., Lu, Y., Mao, H. (2009). Inverse Dynamic Modeling of Two Unsymmetrical 3UPU Parallel Manipulators. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_58

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_58

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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