Characterization of PKM dynamics in terms of system identification

Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics

Volumn 216, Issue 1, 2002, Pages 59-72

  Wiens, G J ^a   Shamblin, S A ^b   Oh, Y H ^b  

^a UNIVERSITY OF FLORIDA   (United States)

^b NONE

Author keywords

Dynamics; Hexapod; Parallel kinematic mechanisms; System identification

Indexed keywords

EID: 0347368098     PISSN: 14644193     EISSN: None     Source Type: Journal    
DOI: 10.1243/146441902760029393     Document Type: Article

References (18)

1. Dasgupta, B. and Mruthyunjaya, T. S. The Stewart platform manipulator: a review. Mech. Mach. Theory, 2000, 35(1), 15-40.
2. Fassi, I. and Wiens, G. J. Multiaxis machining: PKMs and traditional machining centres. J. Manuf. Process., 2000, 2(1), 1-14.
3. Tsai, L.-W. Robot Analysis-The Mechanics of Serial And Parallel Manipulators, 1999, (John Wiley, New York).
4. Liu, K., Lewis, F., Lebret, G. and Taylor, D. The singularities and dynamics of a Stewart platform manipulator. J. Intell. Rob. Syst., 1993, 3, 287-308.
5. Lebret, G., Liu, K. and Lewis, F. L. Dynamic analysis and control of a Stewart platform manipulator. J. Rob. Syst., 1993, 10(5), 629-655.
6. Dasgupta, B. and Mruthyunjaya, T. S. Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator. Mech. Mach. Theory, 1998, 33(8), 1135-1152.
7. Gosselin, C. M. Parallel computational algorithms for the kinematics and dynamics of planar and spatial parallel manipulators. Trans. ASME, J. Dyn. Syst. Meas. Control, 1996, 118(1), 22-28.
8. El-Khasawneh, B. S. and Ferreira, M. P. Computation of stiffness and stiffness bounds for parallel link manipulators. Int. J. Mach. Tools Manuf., 1999, 39, 321-342.
9. Clinton, C., Zhang, G. and Wavering, A. J. Stiffness modeling of a Stewart-platform-based milling machine. Trans. North American Manufacturing Research Institution of SME, 1997, XXV, 335-340.
10. Ramachandran, S., Nagarajan, T. and Prasad, N. S. A finite element approach to the design and dynamic analysis of platform type robot manipulators. Finite Elem. Anal. Des., 1992, 10(4), 335-350.
11. Wiens, G. J. and Hardage, D. S. Dynamics and controls of hexapod machine tools. In Parallel Kinematic Machines: Theoretical Aspects and Industrial Requirements (Eds C. R. Boër, L. Molinari-Tosatti and K. S. Smith), 1999, pp. 217-225 (Springer, London).
12. Ji, Z. Study of the effect of leg inertia in Stewart platforms. Proc. 1993 IEEE International Conference on Robotics and Automation, 1993, Vol. 1, Atlanta GA, pp. 121-126.
13. Wiens, G. J. and Johnston, P. R. Dynamic performance of parallel kinematic machines. Trans. North American Manufacturing Research Institution of SME, 1999, XXVII, 311-316.
14. Wiens, G. and Walker, C. Hexapod machine tool error analysis with inclusion of system dynamics. In 1998 IMECE Proc. ASME: Manufacturing Science and Engineering, Anaheim, CA, November 15-20, 1998, MED-8, 705-713.
15. Xi, F. Dynamic balancing of hexapods for high-speed applications. Robotica, 1999, 17, 335-342.
16. Bhattacharya, S., Hatwal, H. and Ghosh, A. An on-line parameter estimation scheme for generalized Stewart platform type parallel manipulators. Mech. Mach. Theory, 1997, 32(1), 79-89.
17. Wiens, G. J., Hardage, D. S., Heger, M. R., Register, R. B., Wells, R. A., Plymale, D. L. and Bieg, L. F. System identification, dynamic performance and controls of hexapod machine tools. In Proc. 2000 NSF Design & Manufacturing Grantees Conference, Vancouver, BC, Canada, January 3-6, 2000, p. 3.
18. Walker, C. Error analysis of hexapod machine tools with inclusion of system dynamics. Master Thesis, 1997, University of Florida, Gainesville, FL, USA.