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Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism

  • Recent Progress and Novel Applications of Parallel Mechanisms
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Abstract

This paper presents a unified inverse kinematics and dynamics model of a metamorphic parallel mechanism with pure rotation and pure translation phases. By altering one rotation axis of the reconfigurable Hooke (rT) joints in the limbs, the mechanism can be switched into one of the two phases. To provide joint reaction forces for optimal design and control, Newton method is used in developing the dynamics model which is unified by combining geometric constraints and parameters in both phases. An analytical investigation provides special joint force decomposition and limb coordinate setup to decouple the dynamics equations between the platform and the limbs. This reduces the dynamics computation load from solving a 15 × 15 matrix to a 6 × 6 matrix. A numerical example is given to illustrate the proposed method and simulation results are explained and compared between the two phases. The work on this paper gives good reference for optimal design and control of this metamorphic parallel mechanism in different applications using two phases.

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Acknowledgments

The work is partially supported by the National Natural Science Foundation of China (Project Nos. 51375058 and 51205016), the New Century Excellent Talents in University (Project No. NCET-12-0796), the Specialized Research Fund for the Doctoral Program of Higher Education (Project No. 20120005110008).

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Authors and Affiliations

  1. Robotics Institute, Khalifa University of Science, Technology and Research, 127788, Abu Dhabi, UAE

    Dongming Gan, Jorge Dias & Lakmal Seneviratne

  2. School of Natural and Mathematical Sciences, King’s College London, University of London, London, WC2R2LS, UK

    Jian S. Dai & Lakmal Seneviratne

  3. Faculty of Science and Technology, University of Coimbra, Coimbra, Portugal

    Jorge Dias

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  1. Dongming Gan
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  2. Jian S. Dai
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  4. Lakmal Seneviratne
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Correspondence to Dongming Gan.

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Gan, D., Dai, J.S., Dias, J. et al. Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism. Meccanica 51, 1583–1593 (2016). https://doi.org/10.1007/s11012-015-0216-y

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  • DOI: https://doi.org/10.1007/s11012-015-0216-y

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