Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator
Abstract Parallel Kinematic Machines (PKMs) are being widely used for precise applications to achieve complex motions and variable poses for the end effector tool. PKMs are found in medical, assembly and manufacturing industries where accuracy is necessary. It is often desired to have a compact and...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2020-02-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s10033-020-0433-8 |
| _version_ | 1819178274270478336 |
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| author | Mervin Joe Thomas M. L. Joy A. P. Sudheer |
| author_facet | Mervin Joe Thomas M. L. Joy A. P. Sudheer |
| author_sort | Mervin Joe Thomas |
| collection | DOAJ |
| description | Abstract Parallel Kinematic Machines (PKMs) are being widely used for precise applications to achieve complex motions and variable poses for the end effector tool. PKMs are found in medical, assembly and manufacturing industries where accuracy is necessary. It is often desired to have a compact and simple architecture for the robotic mechanism. In this paper, the kinematic and dynamic analysis of a novel 3-PRUS (P: prismatic joint, R: revolute joint, U: universal joint, S: spherical joint) parallel manipulator with a mobile platform having 6 Degree of Freedom (DoF) is explained. The kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg (DH) technique considering both active and passive joints. The kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace. A Jacobian based stiffness analysis is done to understand the variations in stiffness for different poses of the mobile platform and further, it is used to decide trajectories for the end effector within the singularity free region. The analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system constraints. The gravity and inertial forces of all links are considered in the mathematical model. The analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector. |
| first_indexed | 2024-12-22T21:39:57Z |
| format | Article |
| id | doaj.art-954c05fec82e4a58a74277e2af5d6108 |
| institution | Directory Open Access Journal |
| issn | 1000-9345 2192-8258 |
| language | English |
| last_indexed | 2024-12-22T21:39:57Z |
| publishDate | 2020-02-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-954c05fec82e4a58a74277e2af5d61082022-12-21T18:11:38ZengSpringerOpenChinese Journal of Mechanical Engineering1000-93452192-82582020-02-0133111710.1186/s10033-020-0433-8Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel ManipulatorMervin Joe Thomas0M. L. Joy1A. P. Sudheer2Mechatronics/Robotics Lab, Department of Mechanical Engineering, National Institute of Technology CalicutMechatronics/Robotics Lab, Department of Mechanical Engineering, National Institute of Technology CalicutMechatronics/Robotics Lab, Department of Mechanical Engineering, National Institute of Technology CalicutAbstract Parallel Kinematic Machines (PKMs) are being widely used for precise applications to achieve complex motions and variable poses for the end effector tool. PKMs are found in medical, assembly and manufacturing industries where accuracy is necessary. It is often desired to have a compact and simple architecture for the robotic mechanism. In this paper, the kinematic and dynamic analysis of a novel 3-PRUS (P: prismatic joint, R: revolute joint, U: universal joint, S: spherical joint) parallel manipulator with a mobile platform having 6 Degree of Freedom (DoF) is explained. The kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg (DH) technique considering both active and passive joints. The kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace. A Jacobian based stiffness analysis is done to understand the variations in stiffness for different poses of the mobile platform and further, it is used to decide trajectories for the end effector within the singularity free region. The analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system constraints. The gravity and inertial forces of all links are considered in the mathematical model. The analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.https://doi.org/10.1186/s10033-020-0433-8Parallel manipulatorKinematic modellingWorkspace analysisEuler-Lagrangian modellingSingularity analysisStiffness analysis |
| spellingShingle | Mervin Joe Thomas M. L. Joy A. P. Sudheer Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator Chinese Journal of Mechanical Engineering Parallel manipulator Kinematic modelling Workspace analysis Euler-Lagrangian modelling Singularity analysis Stiffness analysis |
| title | Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator |
| title_full | Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator |
| title_fullStr | Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator |
| title_full_unstemmed | Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator |
| title_short | Kinematic and Dynamic Analysis of a 3-PRUS Spatial Parallel Manipulator |
| title_sort | kinematic and dynamic analysis of a 3 prus spatial parallel manipulator |
| topic | Parallel manipulator Kinematic modelling Workspace analysis Euler-Lagrangian modelling Singularity analysis Stiffness analysis |
| url | https://doi.org/10.1186/s10033-020-0433-8 |
| work_keys_str_mv | AT mervinjoethomas kinematicanddynamicanalysisofa3prusspatialparallelmanipulator AT mljoy kinematicanddynamicanalysisofa3prusspatialparallelmanipulator AT apsudheer kinematicanddynamicanalysisofa3prusspatialparallelmanipulator |