Dynamic analysis of a novel 3-PSP 3-DOF parallel manipulator

Author

Hao, Qi ; Wang, Liping ; Guan, Liwen ; Liu, Xin-Jun

Author_Institution

Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China

fYear

2009

fDate

22-24 June 2009

Firstpage

309

Lastpage

314

Abstract

This paper addresses the dynamic modeling of a novel 3-PSP 3-DOF spatial parallel manipulator, which is used as a tool head for high speed machining of structural aircraft components. Hereby, the dynamic analysis of the manipulator is very important. Based on the kinematic analysis, the dynamic equation without considering parasitic motions is derived by using the Newton-Euler approach. Since the parasitic motions are a special characteristic of the 3-PSP parallel manipulator, the dynamic modeling considering them is also focused further. The numerical simulation shows that the parasitic motions of the moving platform could be ignored in the dynamic analysis.

Keywords

Newton method; aerospace components; aircraft; machining; manipulator dynamics; manipulator kinematics; motion control; 3-PSP 3-DOF spatial parallel manipulator dynamic analysis; Newton-Euler approach; dynamic equation; high speed machining; kinematic analysis; machine tools; parasitic motion; structural aircraft component; Aircraft; Equations; Kinematics; Leg; Machine tools; Machining; Magnetic heads; Manipulator dynamics; Manufacturing; Motion analysis; dynamic model; parallel manipulator; parasitic motions;

fLanguage

English

Publisher

ieee

Conference_Titel

Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on

Conference_Location

London

Print_ISBN

978-88-89007-37-2

Electronic_ISBN

978-1-876346-58-4

Type

conf

Filename

5173847