Dynamics of a 3-DOF spatial parallel manipulator with flexible links

Author

Fattah, Abbas ; Angeles, Jorge ; Misra, Arun K.

Author_Institution

McGill Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada

Volume

1

fYear

1995

fDate

21-27 May 1995

Firstpage

627

Abstract

In this paper, the dynamics of a three-degree-of-freedom (3-dof) spatial parallel manipulator with flexible links is studied. Finite elements are used for discretization of the flexible links, while the Euler-Lagrange formulation is used to derive the equations of motion of the uncoupled links. The equations of motion of all the links are then assembled to obtain the governing equations of the manipulator. The method of the natural orthogonal complement is used to eliminate the constraint forces and to derive the minimum number of equations of motion. To highlight the link flexibility effect, the governing equations of motion are used in a simulation of the manipulator at hand for both rigid and flexible-link models

Keywords

finite element analysis; flexible structures; manipulators; 3-DOF spatial parallel manipulator dynamics; Euler-Lagrange formulation; equations of motion; finite element analysis; flexible link manipulator; governing equations; natural orthogonal complement; uncoupled links; Angular velocity; Couplings; Deformable models; Equations; Finite element methods; Leg; Manipulator dynamics; Robot kinematics; Robotics and automation; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525354

Filename

525354