Dynamic model of a 3-DOF redundantly actuated parallel manipulator
We investigate the dynamic mode of a 3-degree of freedom (DOF) redundantly actuated parallel manipulator by taking the flexible deformation of the limbs into account. The dynamic model is derived using Newton–Euler formulation. Since the number of equations derived from the force and moment equilibr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881416662791 |
| _version_ | 1818520011157798912 |
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| author | Tiemin Li Shi Jia Jun Wu |
| author_facet | Tiemin Li Shi Jia Jun Wu |
| author_sort | Tiemin Li |
| collection | DOAJ |
| description | We investigate the dynamic mode of a 3-degree of freedom (DOF) redundantly actuated parallel manipulator by taking the flexible deformation of the limbs into account. The dynamic model is derived using Newton–Euler formulation. Since the number of equations derived from the force and moment equilibrium of the parallel manipulator components is less than the number of unknown variables, the flexible deformation of the limbs is treated as an inequality constraint to find the solution of the dynamic model. The errors of moving platform caused by the flexible deformation of limbs are discussed, and a control strategy is given. To validate the model, the dynamic model is integrated with the control system and compared with the traditional method to minimize the normal driving forces. |
| first_indexed | 2024-12-11T01:31:42Z |
| format | Article |
| id | doaj.art-549bf20c8c7c4476afc1f3715a92cc1c |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T01:31:42Z |
| publishDate | 2016-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-549bf20c8c7c4476afc1f3715a92cc1c2022-12-22T01:25:21ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-09-011310.1177/172988141666279110.1177_1729881416662791Dynamic model of a 3-DOF redundantly actuated parallel manipulatorTiemin Li0Shi Jia1Jun Wu2 Manufacturing Engineering Institute, Department of Mechanical Engineering, Tsinghua University, Beijing, China Beijing Key Laboratory of Precision/ Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, ChinaWe investigate the dynamic mode of a 3-degree of freedom (DOF) redundantly actuated parallel manipulator by taking the flexible deformation of the limbs into account. The dynamic model is derived using Newton–Euler formulation. Since the number of equations derived from the force and moment equilibrium of the parallel manipulator components is less than the number of unknown variables, the flexible deformation of the limbs is treated as an inequality constraint to find the solution of the dynamic model. The errors of moving platform caused by the flexible deformation of limbs are discussed, and a control strategy is given. To validate the model, the dynamic model is integrated with the control system and compared with the traditional method to minimize the normal driving forces.https://doi.org/10.1177/1729881416662791 |
| spellingShingle | Tiemin Li Shi Jia Jun Wu Dynamic model of a 3-DOF redundantly actuated parallel manipulator International Journal of Advanced Robotic Systems |
| title | Dynamic model of a 3-DOF redundantly actuated parallel manipulator |
| title_full | Dynamic model of a 3-DOF redundantly actuated parallel manipulator |
| title_fullStr | Dynamic model of a 3-DOF redundantly actuated parallel manipulator |
| title_full_unstemmed | Dynamic model of a 3-DOF redundantly actuated parallel manipulator |
| title_short | Dynamic model of a 3-DOF redundantly actuated parallel manipulator |
| title_sort | dynamic model of a 3 dof redundantly actuated parallel manipulator |
| url | https://doi.org/10.1177/1729881416662791 |
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