A New Approach for the Dynamic Analysis of Parallel Manipulators
TL;DR: The approach proposed here can be applied to any type of planar and spatial parallel mechanism and leads to faster computational algorithms than the classical Newton–Euler approach when applied to these mechanisms.
Abstract: A new approach for the dynamic analysis of parallel manipulators is presented in this paper. This approach is based on the principle of virtual work. The approach is firstly illustrated using a simple example, namely, a planar four-bar linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom parallel manipulator with prismatic actuators (Gough–Stewart platform) is performed. Finally, a numerical example is given in order to illustrate the results. The approach proposed here can be applied to any type of planar and spatial parallel mechanism and leads to faster computational algorithms than the classical Newton–Euler approach when applied to these mechanisms.
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TL;DR: In this paper, a methodology for deriving the dynamical equations of motion of a Stewart-Gough manipulator based on virtual work and the concept of link Jacobian matrices is presented.
Abstract: This paper presents a systematic methodology for solving the inverse dynamics of a Stewart-Gough manipulator. Based on the principle of virtual work and the concept of link Jacobian matrices, a methodology for deriving the dynamical equations of motion is developed. It is shown that the dynamics of the manipulator can be reduced to solving a system of six linear equations in six unknowns. A computational algorithm for solving the inverse dynamics of the manipulator is developed and several trajectories of the moving platform are simulated.
361 citations
TL;DR: In this paper, an approach based on the theory of screws and on the principle of virtual work is proposed to calculate the actuator forces as a function of the external applied forces and the imposed trajectory.
223 citations
01 Feb 2000
TL;DR: A novel derivation of the forward dynamic equations for the Gough-Stewart platform manipulator based on Kane's equation is proposed, which is more straightforward and systematic, and the final dynamic equations are very concise.
Abstract: A novel derivation of the forward dynamic equations for the Gough-Stewart platform manipulator based on Kane's equation is proposed. In this method, each leg of the Gough-Stewart platform manipulator is treated as an independent substructure, the system dynamic equations are composed of the equations of legs and platform according to the constraints among substructures. The formulation has been implemented in MATLAB routines, and simulation results have been given to show the validation of the new approach. Compared with the traditional Newton-Euler method and Lagrange formulation, the modeling process proposed in the paper is more straightforward and systematic, and the final dynamic equations are very concise.
182 citations
Cites methods from "A New Approach for the Dynamic Anal..."
...The method of virtual work is an efficient approach to derive dynamic equations for the inverse dynamics of the Gough‐Stewart platform [8], [ 9 ]....
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TL;DR: A method based on Hamilton’s canonical equations to solve both the inverse and direct problems of dynamics for parallel robots, shown to be computationally more efficient than the more common acceleration-based methods.
Abstract: Parallel manipulators offer much higher rigidity and smaller mobile mass than their serial counterparts, thus allowing much faster and more precise manipulations. The main disadvantage of parallel robots is their small workspace in comparison to serial arms of similar size. Furthermore, the manipulability of parallel robots is often poor in some regions of the (already small) workspace. Another problematic issue is effective modeling of parallel robot dynamics, often needed for control algorithms. Dynamic algorithms developed for serial robots or general closed-loop mechanisms cannot be easily applied to parallel robots when the objective is real-time, dynamicmodelbased control. Therefore, in this work we investigate how to design parallel manipulators so that their workspace size and manipulability are maximized, and how to model parallel robot dynamics effectively. We develop a new performance index that combines measures of manipulability and workspace size, and a kinematic optimization process yieldin...
129 citations
Cites background from "A New Approach for the Dynamic Anal..."
...A number of approaches to the task of developing models of parallel robot dynamics have been proposed (e.g., Luh and Zheng 1985; Nakamura and Ghodoussi 1989; Lin and Song 1990; Miller and Clavel 1992; Zhang and Song 1993; Miller 1995; Baiges and Duffy 1996; Etemadi et al. 1997; Nenchev, Bhattacharya, and Uchiyama 1997; Wang and Gosselin 1998)....
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...…models of parallel robot dynamics have been proposed (e.g., Luh and Zheng 1985; Nakamura and Ghodoussi 1989; Lin and Song 1990; Miller and Clavel 1992; Zhang and Song 1993; Miller 1995; Baiges and Duffy 1996; Etemadi et al. 1997; Nenchev, Bhattacharya, and Uchiyama 1997; Wang and Gosselin 1998)....
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01 Jan 2006
TL;DR: In this paper, the explicit compact closed-form dynamic equations in the task-space were presented by applying the combination of the Newton-Euler method with the Lagrange formulation.
Abstract: This article presents the explicit compact closed-form dynamic equations in the task-space by applying the combination of the Newton—Euler method with the Lagrange formulation including the...
93 citations
References
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01 Jun 1965
TL;DR: In this article, the authors describe a six-degree-of-freedom control with six motors, each having a ground abutment, for simulating flight conditions in the training of pilots.
Abstract: This paper describes a mechanism which has six degrees of freedom, controlled in any combination by six motors, each having a ground abutment. It is considered that by its particular arrangement, this mechanism may form an elegant design for simulating flight conditions in the training of pilots. Unlike most simulators, it has no fixed axes relative to the ground, and therefore within the limits of amplitude of the design it can truly simulate the conditions of banking by carrying the simulation of control surfaces into the axes of the new attitude.Variations in control arrangements are described and their respective design merits considered.Other possible uses for this mechanism are mentioned, including automation of production.
2,341 citations
"A New Approach for the Dynamic Anal..." refers background in this paper
...Parallel manipulators have received more and more attention over the last two decades (see, for instance, [1, 5, 6, 8, 9, 13, 14 ])....
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Book•
01 Jan 19771,092 citations
"A New Approach for the Dynamic Anal..." refers background in this paper
...Among other issues, the dynamic analysis of parallel manipulators has been studied by several authors (see, for instance, [2–4, 7, 10, 12, 15, 18])....
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TL;DR: The Stewart Platform is one example of a parallel connection robot manipulator as discussed by the authors, and it has been used extensively in the past several years for a variety of tasks in the field of robotics.
Abstract: The Stewart Platform is one example of a parallel connection robot manipulator. This paper summarizes work that has been done at Oregon State University over the past several years on this topic. T...
820 citations
"A New Approach for the Dynamic Anal..." refers background in this paper
...Parallel manipulators have received more and more attention over the last two decades (see, for instance, [1, 5 , 6, 8, 9, 13, 14])....
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TL;DR: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte.
Abstract: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte
812 citations
"A New Approach for the Dynamic Anal..." refers background in this paper
...Parallel manipulators have received more and more attention over the last two decades (see, for instance, [1, 5, 6, 8 , 9, 13, 14])....
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464 citations
"A New Approach for the Dynamic Anal..." refers background in this paper
...Parallel manipulators have received more and more attention over the last two decades (see, for instance, [1, 5, 6 , 8, 9, 13, 14])....
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