A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator
This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained bas...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Springer International Publishing
2016
|
| Subjects: | |
| Online Access: | https://eprints.ums.edu.my/id/eprint/18792/1/A%20simple%20approach%20to%20solve%20the%20kinematics%20and%20dynamics%20of%20the%204.pdf |
| _version_ | 1825713285766316032 |
|---|---|
| author | Jaime Gallardo-Alvarado Mario A. García-Murillo Md Nazrul Islam Mohammad H. Abedinnasab |
| author_facet | Jaime Gallardo-Alvarado Mario A. García-Murillo Md Nazrul Islam Mohammad H. Abedinnasab |
| author_sort | Jaime Gallardo-Alvarado |
| collection | UMS |
| description | This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained based on closure equations formulated upon linear combinations of the coordinates of three non-collinear points embedded in the moving platform. Then, the input-output equations of velocity and acceleration of the robot manipulator are systematically established by resorting to the theory of screws. To this end, the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) is systematically applied to the velocity and reduced acceleration state in screw form of the moving platform cancelling the passive joint rates of the parallel manipulator. Numerical examples, which are confirmed by means of commercially available software, are provided to show the application of the method. |
| first_indexed | 2024-03-06T02:54:11Z |
| format | Article |
| id | ums.eprints-18792 |
| institution | Universiti Malaysia Sabah |
| language | English |
| last_indexed | 2024-03-06T02:54:11Z |
| publishDate | 2016 |
| publisher | Springer International Publishing |
| record_format | dspace |
| spelling | ums.eprints-187922018-02-18T11:56:27Z https://eprints.ums.edu.my/id/eprint/18792/ A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator Jaime Gallardo-Alvarado Mario A. García-Murillo Md Nazrul Islam Mohammad H. Abedinnasab TJ Mechanical engineering and machinery This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained based on closure equations formulated upon linear combinations of the coordinates of three non-collinear points embedded in the moving platform. Then, the input-output equations of velocity and acceleration of the robot manipulator are systematically established by resorting to the theory of screws. To this end, the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) is systematically applied to the velocity and reduced acceleration state in screw form of the moving platform cancelling the passive joint rates of the parallel manipulator. Numerical examples, which are confirmed by means of commercially available software, are provided to show the application of the method. Springer International Publishing 2016-05 Article PeerReviewed text en https://eprints.ums.edu.my/id/eprint/18792/1/A%20simple%20approach%20to%20solve%20the%20kinematics%20and%20dynamics%20of%20the%204.pdf Jaime Gallardo-Alvarado and Mario A. García-Murillo and Md Nazrul Islam and Mohammad H. Abedinnasab (2016) A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator. Journal of Mechanical Science and Technology, 30 (5). pp. 2303-2309. ISSN 1738-494X (Print) 1976-3824 (Online) http://doi.org/10.1007/s12206-016-0439-4 |
| spellingShingle | TJ Mechanical engineering and machinery Jaime Gallardo-Alvarado Mario A. García-Murillo Md Nazrul Islam Mohammad H. Abedinnasab A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator |
| title | A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator |
| title_full | A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator |
| title_fullStr | A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator |
| title_full_unstemmed | A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator |
| title_short | A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator |
| title_sort | simple approach to solve the kinematics and dynamics of the 4 ups ps 3r1t parallel manipulator |
| topic | TJ Mechanical engineering and machinery |
| url | https://eprints.ums.edu.my/id/eprint/18792/1/A%20simple%20approach%20to%20solve%20the%20kinematics%20and%20dynamics%20of%20the%204.pdf |
| work_keys_str_mv | AT jaimegallardoalvarado asimpleapproachtosolvethekinematicsanddynamicsofthe4upsps3r1tparallelmanipulator AT marioagarciamurillo asimpleapproachtosolvethekinematicsanddynamicsofthe4upsps3r1tparallelmanipulator AT mdnazrulislam asimpleapproachtosolvethekinematicsanddynamicsofthe4upsps3r1tparallelmanipulator AT mohammadhabedinnasab asimpleapproachtosolvethekinematicsanddynamicsofthe4upsps3r1tparallelmanipulator AT jaimegallardoalvarado simpleapproachtosolvethekinematicsanddynamicsofthe4upsps3r1tparallelmanipulator AT marioagarciamurillo simpleapproachtosolvethekinematicsanddynamicsofthe4upsps3r1tparallelmanipulator AT mdnazrulislam simpleapproachtosolvethekinematicsanddynamicsofthe4upsps3r1tparallelmanipulator AT mohammadhabedinnasab simpleapproachtosolvethekinematicsanddynamicsofthe4upsps3r1tparallelmanipulator |