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Dynamics analysis of novel parallel manipulator with one central rotational actuator and four translational actuators

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Abstract

A dynamics analysis of a novel parallel manipulator with one central rotational actuator and four translational actuators is conducted. A 3D model of the parallel manipulator is constructed and its characteristics and DoF are analyzed. The kinematics formulae are derived for solving the displacement, velocity and acceleration of the moving links. The dynamics formulae are derived for solving the inertial wrench of the moving links, the dynamic active forces along the active limbs, the dynamic active torque applied on a central active leg, and the dynamic constrained force exerted on the central active leg. A theoretical numerical example is given to solve the kinematics and dynamics solutions, and the theoretical solutions are verified by the simulation mechanism in Matlab. Finally, a reachable workspace of the novel parallel manipulator is constructed using CAD variation geometry.

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Acknowledgements

The authors are grateful to (1) Major Research Project (91748125) supported by National Natural Science Foundation of China, (2) Project (E2016203203) supported by Hebei Excellent Youth Scholars Foundation, (3) Project (E2017203094) supported by Hebei Distinguished Young Scholar Foundation.

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Authors and Affiliations

  1. College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Yang Lu, Yi Lu, Yang Liu, Bo Hu & Yufeng Gong

  2. Harbin Electric Corporation (Qinhuangdao) Heavy Equipment Company Limited, Qinhuangdao, Hebei, 066004, China

    Yang Lu

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  1. Yang Lu
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  2. Yi Lu
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  3. Yang Liu
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  4. Bo Hu
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Correspondence to Yi Lu.

Additional information

Recommended by Associate Editor Baek-Kyu Cho

Yang Lu is an engineer of Harbin Electric Corporation (Qinhuangdao) Heavy Equipment Company Limited, got his B.S. (engineering) degree at College of Mechanical Engineering, Yanshan University.

Yi Lu (corresponding author) got his B.S. and M.S. (Engineering) degrees at Northeast Heavy Machinery Institute in Qiqihar, China, and Dr. Sc. Tech. degree 1997 at University of Oulu, Finland. He completed post-doctor research in 2000. Dr. Yi Lu has been Professor of College of Mechanical Engineering since 1998, a supervisor of candidate of doctor since 2004 at Yanshan University in Qinhuangdao, P. R. China. He has published more than 200 papers.

Yang Liu is a Ph.D. at College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China.

Bo Hu is a Ph.D. at Yanshan University. He is a Professor of College of Mechanical Engineering at Yanshan University, Qinhuangdao, P. R. China since 2018.

Yufeng Gong is a master at College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China.

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Lu, Y., Lu, Y., Liu, Y. et al. Dynamics analysis of novel parallel manipulator with one central rotational actuator and four translational actuators. J Mech Sci Technol 33, 2893–2902 (2019). https://doi.org/10.1007/s12206-019-0537-1

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  • DOI: https://doi.org/10.1007/s12206-019-0537-1

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