Dynamic analysis of 5-DOF parallel machine tool with redundant actuation

Author

Cheng, Li ; Zhao, Yongsheng ; Wang, Hongguang

Author_Institution

State Key Lab. of Robot., CAS, Shenyang, China

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

1945

Lastpage

1950

Abstract

A 5-degree of freedom (DOF) 5-UPS/PRPU parallel machine tool (PMT) with redundant actuation is introduced. The characteristic of the PMT is described. Based on the conventional Lagrange Equation, the dynamic formulation of this PMT with redundant actuation is derived. A novel force distribution method is proposed for redundant actuation. The constraint couple of the PRPU limb to the moving platform is deduced with the D´ Alembert´s principle. Then, the dynamic calculation of the redundant actuation limb is performed. Thus, the inverse dynamic solution can be derived. With ADAMS software, the three-dimensional entity model of the PMT is built and the dynamic simulations are carried out through some typical motion. The simulation results are consistent with the theoretical calculation, which proves the correctness of the theoretical deduction and the feasibility of the simulation analysis.

Keywords

control engineering computing; force control; manipulator dynamics; manipulators; 5-DOF parallel machine tool; ADAMS software; Lagrange equation; PMT; force distribution method; inverse dynamic solution; redundant actuation; Dynamics; Fasteners; Force; Kinetic energy; Mathematical model; Potential energy; Uninterruptible power systems; dynamics; force optimization; parallel machine tool; redundant actuation; simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5986278

Filename

5986278