Dynamics analysis of a novel over-constrained three-DOF parallel manipulator

Author

Bin Li ; Yangmin Li ; Weimin Ge ; Xinhua Zhao ; Yuwei Yang

Author_Institution

Fac. of Sci. & Technol., Univ. of Macau, Macau, China

fYear

2014

fDate

3-6 Aug. 2014

Firstpage

828

Lastpage

833

Abstract

In this paper, a novel over-constrained three degree-of-freedom (DOF) spatial parallel manipulator (SPM) is proposed. The architecture of the SPM is comprised of a moving platform attached to a base through two revolute- prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic joints are considered to be actively actuated. Kinematics and dynamics of the SPM are studied systematically. Firstly, both of the inverse and forward displacements are derived by analytic formulae. Then, the velocities and the accelerations of the moving platform and each limb are obtained. Finally, dynamics of the mechanism is derived based on the principal of the virtual work. The results are illustrated by numerical examples.

Keywords

Hessian matrices; actuators; manipulator dynamics; manipulator kinematics; Hessian matrix; SPM architecture; SPM dynamics; SPM kinematics; active actuation; dynamics analysis; forward displacement; inverse displacement; limb; mechanism dynamics; moving platform acceleration; moving platform velocity; novel over-constrained three degree-of-freedom spatial parallel manipulator; novel over-constrained three-DOF parallel manipulator; prismatic joints; revolute-prismatic-universal jointed serial linkages; spherical-prismatic-revolute jointed serial linkage; Acceleration; Angular velocity; Joints; Kinematics; Manipulator dynamics; Vectors; Dynamics; Kinematics; Over-constrained parallel mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2014 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4799-3978-7

Type

conf

DOI

10.1109/ICMA.2014.6885804

Filename

6885804