Screw Dynamics of a Multibody System by a Schoenflies Manipulator
This paper presents a screw dynamics method for multi-rigid-body systems. It establishes the relationship between velocity screw (twist) and force screw (wrench) in the theorem of momentum screw. Then, the structure of a 2UPS + 2UPU parallel manipulator is introduced as an example of application. By...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/17/9732 |
| _version_ | 1827728319019220992 |
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| author | Jing-Shan Zhao Han-Lin Sun Hao-Yang Li Dong-Jie Zhao |
| author_facet | Jing-Shan Zhao Han-Lin Sun Hao-Yang Li Dong-Jie Zhao |
| author_sort | Jing-Shan Zhao |
| collection | DOAJ |
| description | This paper presents a screw dynamics method for multi-rigid-body systems. It establishes the relationship between velocity screw (twist) and force screw (wrench) in the theorem of momentum screw. Then, the structure of a 2UPS + 2UPU parallel manipulator is introduced as an example of application. By analyzing the constraint wrench of each limb and the twist of the moving platform in the theorem of momentum screw, the dynamics equation for solving the driving force makes the method very convenient for computer programming. The dynamics equation can be reorganized into a non-homogeneous linear equation and establishes the relationship between the constraint wrench of each limb and the twist of the moving platform in screw coordinate. The outstanding advantage of the algorithm proposed in this paper is that the average calculation time is only 83.21% of that of the Newton–Euler method for the 2UPS + 2UPU parallel manipulator on the same computer. This methodology provides a convenient canonical form for the dynamics analysis of multi-rigid-body systems. |
| first_indexed | 2024-03-10T23:27:34Z |
| format | Article |
| id | doaj.art-4a49f17e47324dc29c34db719bc21b6b |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T23:27:34Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-4a49f17e47324dc29c34db719bc21b6b2023-11-19T07:51:02ZengMDPI AGApplied Sciences2076-34172023-08-011317973210.3390/app13179732Screw Dynamics of a Multibody System by a Schoenflies ManipulatorJing-Shan Zhao0Han-Lin Sun1Hao-Yang Li2Dong-Jie Zhao3State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, ChinaState Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, ChinaState Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, ChinaState Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, ChinaThis paper presents a screw dynamics method for multi-rigid-body systems. It establishes the relationship between velocity screw (twist) and force screw (wrench) in the theorem of momentum screw. Then, the structure of a 2UPS + 2UPU parallel manipulator is introduced as an example of application. By analyzing the constraint wrench of each limb and the twist of the moving platform in the theorem of momentum screw, the dynamics equation for solving the driving force makes the method very convenient for computer programming. The dynamics equation can be reorganized into a non-homogeneous linear equation and establishes the relationship between the constraint wrench of each limb and the twist of the moving platform in screw coordinate. The outstanding advantage of the algorithm proposed in this paper is that the average calculation time is only 83.21% of that of the Newton–Euler method for the 2UPS + 2UPU parallel manipulator on the same computer. This methodology provides a convenient canonical form for the dynamics analysis of multi-rigid-body systems.https://www.mdpi.com/2076-3417/13/17/9732momentum screwmulti-rigid-body systemSchoenflies motiondynamics algorithm |
| spellingShingle | Jing-Shan Zhao Han-Lin Sun Hao-Yang Li Dong-Jie Zhao Screw Dynamics of a Multibody System by a Schoenflies Manipulator Applied Sciences momentum screw multi-rigid-body system Schoenflies motion dynamics algorithm |
| title | Screw Dynamics of a Multibody System by a Schoenflies Manipulator |
| title_full | Screw Dynamics of a Multibody System by a Schoenflies Manipulator |
| title_fullStr | Screw Dynamics of a Multibody System by a Schoenflies Manipulator |
| title_full_unstemmed | Screw Dynamics of a Multibody System by a Schoenflies Manipulator |
| title_short | Screw Dynamics of a Multibody System by a Schoenflies Manipulator |
| title_sort | screw dynamics of a multibody system by a schoenflies manipulator |
| topic | momentum screw multi-rigid-body system Schoenflies motion dynamics algorithm |
| url | https://www.mdpi.com/2076-3417/13/17/9732 |
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