Hostname: page-component-848d4c4894-x24gv Total loading time: 0 Render date: 2024-05-04T10:38:12.032Z Has data issue: false hasContentIssue false
  • English
  • Français

Complete dynamic modelling of a moving base 6-dof parallel manipulator

Published online by Cambridge University Press:  21 September 2009

António M. Lopes
António M. Lopes*
Affiliation:
Unidade de Integração de Sistemas e Processos Automatizados, Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
*
*Corresponding author. E-mail: aml@fe.up.pt
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper a new approach based on the generalized momentum is used to obtain the dynamic model of a six degrees-of-freedom (dof) parallel manipulator. First, the system dynamic equations are obtained supposing the manipulator base platform is fixed. Afterwards, the dynamic model is extended to the case of a moving base platform. This could be important in a macro/micro robotic application, where a small manipulator is attached in series to a big manipulator. Simulation results of a macro/micro robotic system are presented and the contribution of the base platform motion to the total actuating forces is shown.

Keywords

RoboticsParallel manipulatorsRobot dynamicsGeneralized momentumMoving base
Type
Article
Information
Robotica , Volume 28 , Issue 5 , September 2010 , pp. 781 - 793
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Zhao, Y. and Gao, F., “Inverse dynamics of the 6-dof out-parallel manipulator by means of the principle of virtual work,” Robotica 27, 259–268 (2009).CrossRefGoogle Scholar
2.Do, W. and Yang, D., “Inverse dynamic analysis and simulation of a platform type of robot,” J. Robot. Syst. 5, 209–227 (1988).CrossRefGoogle Scholar
3.Reboulet, C. and Berthomieu, T., “Dynamic Models of a Six Degree of Freedom Parallel Manipulators,” Proceedings of the 5th International Conference on Advanced Robotics, Pise, Italy (1991) pp. 1153–1157.Google Scholar
4.Ji, Z., “Dynamics decomposition for Stewart platforms,” ASME J. Mech. Des. 116, 67–69 (1994).CrossRefGoogle Scholar
5.Dasgupta, B. and Mruthyunjaya, T., “A Newton–Euler formulation for the inverse dynamics of the Stewart platform manipulator,” Mech. Mach. Theory 34, 711–725 (1998).CrossRefGoogle Scholar
6.Khalil, W. and Ibrahim, O., “General solution for the dynamic modelling of parallel robots,” J. Intell. Robot Syst. 49, 19–37 (2007).CrossRefGoogle Scholar
7.Riebe, S. and Ulbrich, H., “Modelling and online computation of the dynamics of a parallel kinematic with six degrees-of-freedom,” Arch. Appl. Mech. 72, 817–829 (2003).Google Scholar
8.Guo, H. and Li, H., “Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator,” Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Sci. 220, 61–72 (2006).Google Scholar
9.Nguyen, C. and Pooran, F., “Dynamic analysis of a 6 DOF CKCM robot end-effector for dual-arm telerobot systems,” Robot. Auton. Syst. 5, 377–394 (1989).CrossRefGoogle Scholar
10.Lebret, G., Liu, K. and Lewis, F., “Dynamic analysis and control of a Stewart platform manipulator,” J. Robot. Syst. 10, 629–655 (1993).CrossRefGoogle Scholar
11.Di Gregório, R. and Parenti-Castelli, V., “Dynamics of a class of parallel wrists,” J. Mech. Des. 126, 436–441 (2004).CrossRefGoogle Scholar
12.Caccavale, F., Siciliano, B. and Villani, L., “The tricept robot: Dynamics and impedance control,” IEEE/ASME Trans. Mech. 8, 263–268 (2003).CrossRefGoogle Scholar
13.Staicu, S., Liu, X.-J. and Wang, J., “Inverse dynamics of the HALF parallel manipulator with revolute actuators,” Nonlinear Dyn. 50, 1–12 (2007).Google Scholar
14.Tsai, L.-W., “Solving the inverse dynamics of Stewart–Gough manipulator by the principle of virtual work,” J. Mech. Des. 122, 3–9 (2000).CrossRefGoogle Scholar
15.Gallardo, J., Rico, J., Frisoli, A., Checcacci, D. and Bergamasco, M., “Dynamics of parallel manipulators by means of screw theory,” Mech. Mach. Theory 38, 1113–1131 (2003).Google Scholar
16.Staicu, S. and Zhang, D., “A novel dynamic modelling approach for parallel mechanisms analysis,” Robot. Comput.-Integr. Manuf. 24, 167–172 (2008).Google Scholar
17.Miller, K., “Optimal design and modeling of spatial parallel manipulators,” Int. J. Robot. Res. 23, 127–140 (2004).Google Scholar
18.Yiu, Y. K., Cheng, H. and Xiong, Z. H., Liu, G. F., Li, Z. X., “On the Dynamics of Parallel Manipulators,” Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, South Korea (2001) pp. 3766–3771.Google Scholar
19.Abdellatif, H. and Heimann, B., “Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism,” Mech. Mach. Theory 44, 192–207 (2009).Google Scholar
20.Wang, J., Wu, J., Wang, L. and Li, T., “Simplified strategy of the dynamic model of a 6-UPS parallel kinematic machine for real-time control,” Mech. Mach. Theory 42, 1119–1140 (2007).CrossRefGoogle Scholar
21.Sokolov, A. and Xirouchakis, P., “Dynamics analysis of a 3-DOF parallel manipulator with R-P-S joint structure,” Mech. Mach. Theory 42, 541–557 (2007).Google Scholar
22.Lopes, A. M. and Almeida, F., “The generalized momentum approach to the dynamic modeling of a 6-dof parallel manipulator,” Multibody Syst. Dyn. 21, 123–146 (2009).Google Scholar
23.Lopes, A. and Almeida, F., “A force–impedance controlled industrial robot using an active robotic auxiliary device,” Robot. Comput.-Integr. Manuf. 24, 299–309 (2008).Google Scholar
24.Chablat, D., Wenger, P., Majou, F. and Merlet, J.-P., “An interval analysis based study for the design and the comparison of three-degrees-of-freedom parallel kinematic machines,” Int. J. Robot. Res. 23, 615–624 (2004).CrossRefGoogle Scholar
25.Merlet, J.-P., Parallel Robots (Springer, Dordrecht, The Netherlands, 2006).Google Scholar
26.Bruzzone, L., Molfino, R. and Zoppi, M., “An impedance-controlled parallel robot for high-speed assembly of white goods,” Ind. Robot 32, 226–233 (2005).CrossRefGoogle Scholar
27.Zhang, D. and Gosselin, C., “Kinetostatic analysis and design optimization of the tricept machine tool family,” J. Manuf. Sci. Eng. 124, 725–733 (2002).Google Scholar
28.Glavonjic, M. and Milutinovic, D., “Parallel structured milling machines with long X travel,” Robot. Comput.-Integr. Manuf. 24, 310–320 (2008).Google Scholar
29.Constantinescu, D., Salcudean, S. E. and Croft, E. A., “Haptic rendering of rigid contacts using impulsive and penalty forces,” IEEE Trans. Robot. 21, 309–323 (2005).Google Scholar
30.Najafi, F. and Sepehri, N., “A novel hand-controller for remote ultrasound imaging,” Mechatronics 18, 578–590 (2008).CrossRefGoogle Scholar
31.Lopes, A. and Almeida, F., “Manipulability Optimization of a Parallel Structure Robotic Manipulator,” Proceedings of the 2nd Portuguese Conference on Automatic Control, Porto, Portugal (1996) pp. 243–248.Google Scholar
32.Vukobratovic, M. and Kircanski, M., Kinematics and Trajectory Synthesis of Manipulation Robots (Springer-Verlag, Berlin, 1986).CrossRefGoogle Scholar
33.Torby, B., Advanced Dynamics for Engineers (CBS College Publishing, New York, 1984).Google Scholar