Journal ArticleDOI
A New Approach for the Dynamic Analysis of Parallel Manipulators
Jiegao Wang,Clément Gosselin +1 more
Reads0
Chats0
TLDR
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.read more
Citations
More filters
Proceedings ArticleDOI
Dynamic feedforward control of the 2-DOFs parallel manipulator of a hybrid machine tool
TL;DR: From the numerical simulation, it is proved that the dynamic feedforward control system proposed in this paper can eliminate the influence of dynamic disturbances and dynamic characteristics well.
Proceedings ArticleDOI
A smooth sliding mode controller using a state observer for position control of the Stewart-Gough Platform
Haochen Shi,Weidong Liu +1 more
TL;DR: In this paper, a position controller for the Stewart-Gough platform using the sliding mode control technique based on the joint space dynamic model is proposed, and the desired position trajectory of the moving platform has been achieved using the proposed controller.
Proceedings ArticleDOI
GA-based dynamic manipulability optimization of a 2-DOF planar parallel manipulator
TL;DR: From the numerical simulation, it is proved that the dynamic optimization considering GDM proposed in this paper can ameliorate the dynamic performance of the parallel manipulator well.
Journal ArticleDOI
Reconfiguration for the maximum dynamic wrench capability of a parallel robot
Chih-Jer Lin,Chun Ta Chen +1 more
TL;DR: In this article, a Stewart-platform robot with sliding lockable base joints is proposed for reconfiguration, and it addresses the determination of the optimal configuration for the prescribed motion with maximum allowable dynamic wrench capability subject to the constraints imposed by the kinematics and dynamics of the proposed reconfigurable architecture.
Proceedings ArticleDOI
Dynamics and control of actuated parallel structures as a constrained optimization problem through Gauss' principle and Appell's equations
TL;DR: This paper develops a purely deductive approach for dynamic analysis of parallel robots, based on consideration of Gauss' principle through Appell's approach, which consists in formulating a constrained optimization problem that simultaneously leads to the inverse and direct dynamical models, thereby exhibiting the links between both models.
References
More filters
Journal ArticleDOI
A Platform with Six Degrees of Freedom
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.
Journal ArticleDOI
A Stewart-Platform based manipulator: general theory and practical construction
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.
Journal ArticleDOI
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator
Clément Gosselin,Jorge Angeles +1 more
TL;DR: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte.