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Inverse kinematic and dynamic analyses of 6-DOFPUS type parallel manipulators

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Abstract

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

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Abbreviations

A i :

Position vector ofi-th universal joint

B i :

Position vector ofi-th spherical joint

I :

Moment of inertia of mobile platform

I li :

Moment of inertia ofi-th link

R :

Orientation matrix of mobile platform

R li :

Orientation matrix ofi-th link

a i :

Unit vector along thei-th linear guide

f si :

Frictional force ati-th prismatic joint

f ui :

Frictional moment ati-th universal joint

f pi :

Frictional moment ati-th spherical joint

l :

Link length

m si :

Equivalent mass ofi-th slider part

m li :

Mass ofi-th link

m :

Mass of mobile platform

n i :

Unit vector alongi-th link length direction

ω:

Angular velocity of mobile platform

ω li :

Angular velocity ofi-th link

τ i :

Articular force ofi-th actuator

a × :

Skew-symmetric matrix

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Authors and Affiliations

  1. Graduate School, Department of Mechatronics, Kwangju Institute of Science and Technology, 500-712, Kwangju, Korea

    Jong-Phil Kim & Jeha Ryu

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  1. Jong-Phil Kim
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  2. Jeha Ryu
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Correspondence to Jeha Ryu.

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Kim, JP., Ryu, J. Inverse kinematic and dynamic analyses of 6-DOFPUS type parallel manipulators. KSME International Journal 16, 13–23 (2002). https://doi.org/10.1007/BF03185151

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  • DOI: https://doi.org/10.1007/BF03185151

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