Dynamic Formulation and Performance Comparison of the 3-DOF Modules of Two Reconfigurable PKM—the Tricept and the TriVariant-Reference-Cited by-同舟云学术

Dynamic Formulation and Performance Comparison of the 3-DOF Modules of Two Reconfigurable PKM—the Tricept and the TriVariant

Published:2005-02-09 Issue:6 Volume:127 Page:1129-1136
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Li Meng,Huang Tian,Mei Jiangping,Zhao Xueman¹,Chetwynd Derek G.²,Hu S. Jack³

Affiliation:

1. School of Mechanical Engineering, Tianjin University, Tianjin 300072, People’s Republic of China

2. School of Engineering, University of Warwick, Coventry CV4 7AL, United Kingdom

3. Department of Mechanical Engineering, The University of Michigan, Ann Arbor, MI 48109

Abstract

Utilizing the virtual work principle, this paper presents a method for the inverse dynamic formulation of the 3-degree-of-freedom (DOF) modules of the well-known Tricept robot and a newly invented hybrid robot named TriVariant. The TriVariant is a modified version of the Tricept, achieved by integrating one of the three active limbs into the passive one. Both local and global conditioning indices are proposed for the dynamic performance evaluation and comparison of these two robots. These indices are designed on the basis of the maximum actuated joint force required for producing a unit acceleration of the mobile platform. For a given set of geometrical and inertial parameters, it has been shown that the TriVariant has a similar overall dynamic performance compared with that of the Tricept.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/127/6/1129/5616827/1129_1.pdf

Reference21 articles.

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2. Design Issue for Reconfigurable PKMs;Jovane

3. PKM Concept for Reconfigurable Machine Tools;Wurst

4. Tricept Application;Neumann

5. Available at http://www.smttricept.com

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