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A new asymmetrical mass distribution method on the analysis of universal “force-sensing” model for 3-DOF translational parallel manipulator

Lingtao Yu (College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China)
Huajian Song (College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China)
Tao Wang (College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China)
Zhengyu Wang (College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China)
Liqiang Sun (College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China)
Zhijiang Du (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 14 January 2014

328

Abstract

Purpose

The characteristic of static is quite important especially for the manipulator with force feedback. This paper aims to improve the traditional static model by considering the limitations such as lacking of versatility and ignoring gravity of links. For this purpose, a new asymmetric mass distribution method on the analysis of universal “force-sensing” model has been put forward to overcome the limitations.

Design/methodology/approach

Through the forces and torques analysis of every link and the moving platform, the static model of 3-RUU manipulator is acquired. Then, based on the physical meaning analysis of every part in the static model of 3-RUU manipulator, a new asymmetric mass distribution method on the analysis of universal “force-sensing” model can be obtained.

Findings

The correctness of the static model of 3-RUU manipulator is verified by simulation results based on Pro/Engineer software and Adams software. Furthermore, experiment results based on a manipulator similar to the Omega.3 manipulator indicate that the universal “force-sensing” model can be applicable to the above manipulator.

Originality/value

A new asymmetric mass distribution method on the analysis of universal static mathematical model has been put forward. Based on physical meaning of the above method, the “force-sensing” model can be established quickly and it owns versatility, which can be applicable to the 3-RUU manipulator, the Omega.3 parallel manipulator and other similar manipulators with force feedback. In addition, it can improve the accuracy of the “force-sensing” model to a great extent.

Keywords

Acknowledgements

The authors gratefully acknowledge Professor Lining Sun for his constructive comments. The authors also thank the State Key Laboratory of Robotics and System of Harbin Institute of Technology (HIT) for providing the research platform. This paper is supported by the National Natural Science Foundation of China (Grant No. 61203358), the Research Fund for the Doctoral Program of Higher Education of China (Grand No. 20102304120006), the Fundamental Research Funds for the Central Universities, and the Special Fund for Outstanding Talented Person of Harbin City (Grant No. 2012RFQXS067).

Citation

Yu, L., Song, H., Wang, T., Wang, Z., Sun, L. and Du, Z. (2014), "A new asymmetrical mass distribution method on the analysis of universal “force-sensing” model for 3-DOF translational parallel manipulator", Industrial Robot, Vol. 41 No. 1, pp. 56-69. https://doi.org/10.1108/IR-03-2013-337

Publisher

:

Emerald Group Publishing Limited

Copyright © 2014, Emerald Group Publishing Limited

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