Journal ArticleDOI
Dynamics analysis and characteristics of the 8-PSS flexible redundant parallel manipulator
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In this paper, the 8-PSS flexible redundant parallel manipulator is investigated based on some basic assumptions and the dynamic characteristics represented by the natural frequency, the sensitivity analysis, the energy ratios and the displacement responses of the moving platform are investigated through simulation.Abstract:
The modeling methodology and the dynamic characteristics of the 8-PSS flexible redundant parallel manipulator are investigated based on some basic assumptions. Firstly, the system description and the rigid dynamic model are presented. The actuating forces with minimum norm and least quadratic sum among the possible actuating forces are achieved. Then, the kineto-elastodynamic model of the manipulator is developed by virtue of the finite element method and the substructure synthesis technique. Finally, the dynamic characteristics represented by the natural frequency, the sensitivity analysis, the energy ratios and the displacement responses of the moving platform are investigated through simulation. It is shown that the second order natural frequency is a little higher than the first order natural frequency for the 8-PSS flexible redundant parallel manipulator. The first order natural frequency is much more sensitive to the radius of the lead-screws than to the radius of the struts. From the computation of the energy ratio distribution, the mass of the moving platform should be reduced or the stiffness of the strut should be increased in order to improve the dynamic characteristic of the manipulator. For the investigated trajectory, the displacement response of the moving platform along the x direction is slightly larger than these displacement responses along the y direction and along the z direction. The angular displacement response of the moving platform rotating about the x axis is slightly larger than those angular displacement responses rotating about the y axis and about the z axis.read more
Citations
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References
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Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work
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.
Journal ArticleDOI
Dynamics and control of redundantly actuated parallel manipulators
TL;DR: In this article, a simple scheme for computing the inverse dynamics of a redundant actuation of a parallel manipulator is proposed, and four basic control algorithms, a joint-space proportional derivative (PD), a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated.
Journal ArticleDOI
Force capabilities of redundantly-actuated parallel manipulators
TL;DR: A methodology of using scaling factors to determine the force capabilities of non-redundantly and redundantly-actuated parallel manipulators is presented in this paper, which allows the actuator limits to be easily incorporated into the problem of determining force capabilities.