Abstract
In this paper, a new six degrees of freedom (6-DOF) parallel manipulator with adjustable actuators is proposed. The kinematic model is firstly established and the kinematic analysis is performed afterward. Then the equations of motion are developed based on the concept of link Jacobian matrices. Finally, the principle of virtual work is applied to analyze the dynamics of this 6-PSS parallel manipulator. This methodology can be used on other types of parallel manipulators not only for 6-DOF but also with less than 6-DOF. To solve the inverse dynamics of the manipulator, a computational algorithm is developed and two trajectories of the moving platform are simulated.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Yun, Y., Li, Y.M.: Design and Analysis of a Novel 6-DOF Redundant Actuated Parallel Robot with Compliant Hinges for High Precision Positioning. Nonlinear Dynamics 61(4), 829–845 (2010)
Tsai, L.W.: Sloving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work. ASME Journal of Mechanical Design 122, 3–9 (2000)
Yun, Y., Li, Y.M.: A General Dynamics and Control Model of a Class of Multi-DOF Manipulators for Active Vibration Control. Mechanism and Machine Theory 46(10), 1549–1574 (2011)
Li, Y.M., Staicu, S.: Inverse Dynamics of a 3-PRC Parallel Kinematic Machine. Nonlinear Dynamics 67(2), 1031–1041 (2012)
Dasgupta, B., Choudhury, P.: A General Strategy Based on the Newton Euler Approach for the Dynamic Formulation of Parallel Maniplators. Mechanism and Machine Theory 34, 801–824 (1999)
Li, K.Q., Wen, R.: Closed-Form Dynamic Equations of the 6-RSS Parallel Mechanism Through the Newton-Euler Approach. In: Proceedings of the Third International Conference on Measuring Technology and Mechatronics Automation, vol. 01, pp. 712–715 (2011)
Harib, K., Srinivasan, K.: Kinematic and Dynamic Analysis of Stewart Platoform-Based Machine Tool Structures. Robotica 21, 541–554 (2003)
Nakamura, Y., Yamane, K.: Dynamics Computation of Structure-Varying Kinematic Chains and Its Application to Human Figures. IEEE Transactions on Robotics and Automation 16(2), 124–134 (2000)
Pang, H., Shahingpoor, M.: Inverse Dynamics of a Parallel Manipulator. Journal of Robotic System 11(8), 693–702 (1994)
Penda, H., Vakil, M., Zohoor, H.: Efficient Dynamic Equation of 3-PRS Parallel Manipulator Through Lagrange Method. In: Proceedings of the IEEE Conference on Robotics, Automation and Mehcatronics, vol. 2, pp. 1152–1157 (2004)
Wang, J.G., Gosselin, C.M.: A New Approach for the Dynamic Analysis of Parallel Manipulator. Multibody System Dynamics 2, 317–334 (1998)
Wang, Y.B., Zheng, S.T., Jin, J.: Dynamic Modeling of Spatial 6-DOF Parallel Manipulator Using Kane Method. In: International Conference on E-product E-service and E-entertainment, pp. 1–5 (2010)
Yun, Y., Li, Y.M.: A General Model of a Kind of Parallel Manipulator for Active Control based on Kane’s Dynamics. In: IEEE Asia Pacific Conference on Circuits and Systems, Macao, China, pp. 1830–1833 (2008)
Liu, M.J., Li, C.X., Li, C.N.: Dynamics Analysis of the Gough-Stewart Platform Manipulator. IEEE Transactions on Robotics and Automation 16(1), 94–98 (2000)
Lee, K.M., Shah, D.K.: Dynamic Analysis of a Three-Degree-of-Freedom in Parallel Actuated Manipulator. IEEE Journal of Robotics and Automation 4(3), 361–367 (1988)
Lu, S., Li, Y.M.: Dimensional Synthesis of a 3-DOF Translational Parallel Manipulator Considering Kinematic Dexterity Property. In: IEEE International Conference on Information and Automation, Hailar, China, pp. 7–12 (2014)
Xu, W.Y., Li, Y.M., Xiao, X.: Kinematics and Workspace analysis for a novel 6-PSS parall manipulator. In: IEEE International Conference on Robotics and Bimimetics, pp. 1869–1874 (2013)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Xu, W., Li, Y., Lu, S., Xiao, X. (2014). Inverse Dynamics Analysis of a 6-PSS Parallel Manipulator. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8918. Springer, Cham. https://doi.org/10.1007/978-3-319-13963-0_2
Download citation
DOI: https://doi.org/10.1007/978-3-319-13963-0_2
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13962-3
Online ISBN: 978-3-319-13963-0
eBook Packages: Computer ScienceComputer Science (R0)