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Full dynamic model of 3-UPU translational parallel manipulator for model-based control schemes

Published online by Cambridge University Press:  17 February 2022

Ali Hassani Open the ORCID record for Ali Hassani [Opens in a new window] ,
S. A. Khalilpour ,
Abbas Bataleblu  and
Hamid D. Taghirad Open the ORCID record for Hamid D. Taghirad [Opens in a new window]
Ali Hassani
Affiliation:
Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran
S. A. Khalilpour
Affiliation:
Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran
Abbas Bataleblu
Affiliation:
Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran
Hamid D. Taghirad*
Affiliation:
Advanced Robotics and Automated Systems (ARAS), Industrial Control Center of Excellence, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 1969764499, Iran
*
*Corresponding author. E-mail: taghirad@kntu.ac.ir.
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Abstract

Optimal mechanical design, model-based control, and robot dynamic calibration mainly rely on the analytical formulation of robot dynamics. In this paper, the kinematics equations of a general 3-UPU translational parallel manipulator (TPM) are derived, and then, by using the principle of the virtual work theorem, the full implicit dynamic model is derived. Furthermore, by making some modifications, the explicit dynamic formulation of the robot is attained, which is the basis of a wide range of advanced model-based controllers. To validate the proposed formulation, a prototype of the 3-UPU TPM is modeled in MSC-ADAMS® software, and the results of the dynamic formulation are validated using this model. The results show the high accuracy of the proposed dynamic formulation presented in this article.

Keywords

3-UPU TPMparallel robots dynamicsexplicit dynamic formulationvirtual work methodmodel-based control
Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2815 - 2830
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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