Solving the dynamic equations of a 3-<span style="text-decoration:underline; " class="text">P</span>RS Parallel Manipulator for efficient model-based designs
Introduction of parallel manipulator systems for different applications areas has influenced many researchers to develop techniques for obtaining accurate and computational efficient inverse dynamic models. Some subject areas make use of these models, such as, optimal design, parameter identifica...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2016-01-01
|
| Series: | Mechanical Sciences |
| Online Access: | https://www.mech-sci.net/7/9/2016/ms-7-9-2016.pdf |
| Summary: | Introduction of parallel manipulator systems for different applications areas
has influenced many researchers to develop techniques for obtaining accurate
and computational efficient inverse dynamic models. Some subject areas make
use of these models, such as, optimal design, parameter identification, model
based control and even actuation redundancy approaches. In this context, by
revisiting some of the current computationally-efficient solutions for
obtaining the inverse dynamic model of parallel manipulators, this paper
compares three different methods for inverse dynamic modelling of a general,
lower mobility, 3-<span style="text-decoration:underline; " class="text">P</span>RS parallel manipulator. The first method
obtains the inverse dynamic model by describing the manipulator as three open
kinematic chains. Then, vector-loop closure constraints are introduced for
obtaining the relationship between the dynamics of the open kinematic chains
(such as a serial robot) and the closed chains (such as a parallel robot).
The second method exploits certain characteristics of parallel manipulators
such that the platform and the links are considered as independent
subsystems. The proposed third method is similar to the second method but it
uses a different Jacobian matrix formulation in order to reduce computational
complexity. Analysis of these numerical formulations will provide fundamental
software support for efficient model-based designs. In addition,
computational cost reduction presented in this paper can also be an effective
guideline for optimal design of this type of manipulator and for real-time
embedded control. |
|---|---|
| ISSN: | 2191-9151 2191-916X |