Dynamic model of a 3-DOF redundantly actuated parallel manipulator-Reference-Cited by-同舟云学术

Dynamic model of a 3-DOF redundantly actuated parallel manipulator

Published:2016-09-01 Issue:5 Volume:13 Page:172988141666279
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Li Tiemin¹,Jia Shi²,Wu Jun³

Affiliation:

1. Manufacturing Engineering Institute, Department of Mechanical Engineering, Tsinghua University, Beijing, China

2. Beijing Key Laboratory of Precision/ Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China

3. State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China

Abstract

We investigate the dynamic mode of a 3-degree of freedom (DOF) redundantly actuated parallel manipulator by taking the flexible deformation of the limbs into account. The dynamic model is derived using Newton–Euler formulation. Since the number of equations derived from the force and moment equilibrium of the parallel manipulator components is less than the number of unknown variables, the flexible deformation of the limbs is treated as an inequality constraint to find the solution of the dynamic model. The errors of moving platform caused by the flexible deformation of limbs are discussed, and a control strategy is given. To validate the model, the dynamic model is integrated with the control system and compared with the traditional method to minimize the normal driving forces.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/1729881416662791

Reference26 articles.

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2. On the analysis of active reflector supporting manipulator for the large spherical radio telescope

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