Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator
Modeling and analysis of inverse kinematics and dynamics for a novel parallel manipulator are established in this article. The manipulator is a spatial mechanism, which consists of six identical kinematic chains connecting to the moving platform. Firstly, screw theory is applied to compute the degre...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2022-10-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806221132077 |
| _version_ | 1817982985923723264 |
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| author | Wenhao Wang Na Wang Xiaoyong Wu |
| author_facet | Wenhao Wang Na Wang Xiaoyong Wu |
| author_sort | Wenhao Wang |
| collection | DOAJ |
| description | Modeling and analysis of inverse kinematics and dynamics for a novel parallel manipulator are established in this article. The manipulator is a spatial mechanism, which consists of six identical kinematic chains connecting to the moving platform. Firstly, screw theory is applied to compute the degree of freedom of this manipulator. Then the inverse position is achieved based on the homogeneous coordinate transformation principle while motion law of the moving platform is given. Furthermore, the first-order influence coefficient method is employed to obtain the Jacobian matrices of the considered manipulator and the links, so do the velocities. Afterward, the rigid-body dynamics model is derived from the Lagrange formulation. To obtain the integrated inverse dynamics model, an approach for simplified flexible dynamics analysis is proposed. Finally, simulations are conducted to compute the position and driving force of this considered manipulator, which validate the new method simultaneously. |
| first_indexed | 2024-04-13T23:27:14Z |
| format | Article |
| id | doaj.art-85af2deb7ef14e60867b5311f02edbd0 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-13T23:27:14Z |
| publishDate | 2022-10-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-85af2deb7ef14e60867b5311f02edbd02022-12-22T02:25:01ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142022-10-011910.1177/17298806221132077Kinematics and dynamics analysis of a six-degree of freedom parallel manipulatorWenhao Wang0Na Wang1Xiaoyong Wu2 School of Mechanical Engineering, Anhui Technical College of Mechanical and Electrical Engineering, Wuhu Anhui, China School of Mechanical Engineering, Anhui Technical College of Mechanical and Electrical Engineering, Wuhu Anhui, China College of Mechanical Engineering, Chongqing University of Technology, Chongqing, ChinaModeling and analysis of inverse kinematics and dynamics for a novel parallel manipulator are established in this article. The manipulator is a spatial mechanism, which consists of six identical kinematic chains connecting to the moving platform. Firstly, screw theory is applied to compute the degree of freedom of this manipulator. Then the inverse position is achieved based on the homogeneous coordinate transformation principle while motion law of the moving platform is given. Furthermore, the first-order influence coefficient method is employed to obtain the Jacobian matrices of the considered manipulator and the links, so do the velocities. Afterward, the rigid-body dynamics model is derived from the Lagrange formulation. To obtain the integrated inverse dynamics model, an approach for simplified flexible dynamics analysis is proposed. Finally, simulations are conducted to compute the position and driving force of this considered manipulator, which validate the new method simultaneously.https://doi.org/10.1177/17298806221132077 |
| spellingShingle | Wenhao Wang Na Wang Xiaoyong Wu Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator International Journal of Advanced Robotic Systems |
| title | Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator |
| title_full | Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator |
| title_fullStr | Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator |
| title_full_unstemmed | Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator |
| title_short | Kinematics and dynamics analysis of a six-degree of freedom parallel manipulator |
| title_sort | kinematics and dynamics analysis of a six degree of freedom parallel manipulator |
| url | https://doi.org/10.1177/17298806221132077 |
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