Inverse rigid-body dynamic analysis for a 3US-RU parallel robot
Inverse rigid-body dynamic analysis for a 3U P S- P RU parallel robot are conducted in this research. The position, velocity, acceleration, jerk, and singularity are considered in the inverse kinematics analysis. The rigid-body dynamic model is developed by means of the principle of virtual work and...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2017-02-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814017693194 |
| _version_ | 1818117906132631552 |
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| author | Yongjie Zhao Ziqiang Zhang Gang Cheng |
| author_facet | Yongjie Zhao Ziqiang Zhang Gang Cheng |
| author_sort | Yongjie Zhao |
| collection | DOAJ |
| description | Inverse rigid-body dynamic analysis for a 3U P S- P RU parallel robot are conducted in this research. The position, velocity, acceleration, jerk, and singularity are considered in the inverse kinematics analysis. The rigid-body dynamic model is developed by means of the principle of virtual work and the concept of link Jacobian matrices. The driving torque, driving power, and required output work of motors have been computed in the inverse rigid-body dynamics analysis. For the pre-defined trajectory, the required output work generated by the driving motor is achieved by numerical integration technique. The inverse kinematics and rigid-body dynamics have been investigated in an exhaustive decoupled way. The effects of the velocity of the moving platform on the components of the joint acceleration, joint jerk, driving torque, and driving power, which are related to the velocity of the moving platform, are investigated. There are linear relationships between the acceleration of the moving platform and the components of the joint acceleration, joint jerk, driving torque, and driving power, which are related to the acceleration of the moving platform. The total driving torques, the torques related to the acceleration, velocity, and gravity, the torques related to the moving platform, strut connected with the moving platform, strut connected with the base platform, and motor rotor-coupler are calculated. The total driving powers, the powers related to the acceleration component of torque, velocity component of torque, gravity component of torque, and the powers related to the moving platform, strut connected with the moving platform, strut connected with the base platform, and motor rotor-coupler are also achieved. |
| first_indexed | 2024-12-11T04:45:51Z |
| format | Article |
| id | doaj.art-a30fbc8ef6bd490cb2063fdfa1817c7c |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-11T04:45:51Z |
| publishDate | 2017-02-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-a30fbc8ef6bd490cb2063fdfa1817c7c2022-12-22T01:20:31ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402017-02-01910.1177/1687814017693194Inverse rigid-body dynamic analysis for a 3US-RU parallel robotYongjie Zhao0Ziqiang Zhang1Gang Cheng2Department of Mechatronics Engineering, Shantou University, Shantou, P.R. ChinaDepartment of Mechatronics Engineering, Shantou University, Shantou, P.R. ChinaSchool of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, P.R. ChinaInverse rigid-body dynamic analysis for a 3U P S- P RU parallel robot are conducted in this research. The position, velocity, acceleration, jerk, and singularity are considered in the inverse kinematics analysis. The rigid-body dynamic model is developed by means of the principle of virtual work and the concept of link Jacobian matrices. The driving torque, driving power, and required output work of motors have been computed in the inverse rigid-body dynamics analysis. For the pre-defined trajectory, the required output work generated by the driving motor is achieved by numerical integration technique. The inverse kinematics and rigid-body dynamics have been investigated in an exhaustive decoupled way. The effects of the velocity of the moving platform on the components of the joint acceleration, joint jerk, driving torque, and driving power, which are related to the velocity of the moving platform, are investigated. There are linear relationships between the acceleration of the moving platform and the components of the joint acceleration, joint jerk, driving torque, and driving power, which are related to the acceleration of the moving platform. The total driving torques, the torques related to the acceleration, velocity, and gravity, the torques related to the moving platform, strut connected with the moving platform, strut connected with the base platform, and motor rotor-coupler are calculated. The total driving powers, the powers related to the acceleration component of torque, velocity component of torque, gravity component of torque, and the powers related to the moving platform, strut connected with the moving platform, strut connected with the base platform, and motor rotor-coupler are also achieved.https://doi.org/10.1177/1687814017693194 |
| spellingShingle | Yongjie Zhao Ziqiang Zhang Gang Cheng Inverse rigid-body dynamic analysis for a 3US-RU parallel robot Advances in Mechanical Engineering |
| title | Inverse rigid-body dynamic analysis for a 3US-RU parallel robot |
| title_full | Inverse rigid-body dynamic analysis for a 3US-RU parallel robot |
| title_fullStr | Inverse rigid-body dynamic analysis for a 3US-RU parallel robot |
| title_full_unstemmed | Inverse rigid-body dynamic analysis for a 3US-RU parallel robot |
| title_short | Inverse rigid-body dynamic analysis for a 3US-RU parallel robot |
| title_sort | inverse rigid body dynamic analysis for a 3us ru parallel robot |
| url | https://doi.org/10.1177/1687814017693194 |
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