A novel dynamic modelling approach for parallel mechanisms analysis

Robotics and Computer-Integrated Manufacturing

Volumn 24, Issue 1, 2008, Pages 167-172

  Staicu, Stefan ^a   Zhang, Dan ^b  

^a UNIVERSITY POLITEHNICA OF BUCHAREST   (Romania)

^b UNIVERSITY OF ONTARIO INSTITUTE OF TECHNOLOGY   (Canada)

Author keywords

Dynamic model; Parallel mechanism; Recursive matrix method

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; ELECTRIC MOTORS; INVERSE PROBLEMS; KINEMATICS; RECURSIVE FUNCTIONS;

PARALLEL MECHANISM; RECURSIVE MATRIX METHOD; VIRTUAL WORK;

DYNAMIC MODELS;

EID: 34948911821     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.rcim.2006.09.001     Document Type: Article

References (28)

1. Merlet J.P. Parallel robots (2000), Kluwer Academic Publishers, Dordrecht
2. Stewart D. A platform with six degrees of freedom. Proc Inst Mech Eng Part 1 180 5 (1965) 371-386
3. Carretero J.A., Podhorodeski R.P., Nahon M.N., and Gosselin C.M. Kinematic analysis and optimization of a new three degree-of-freedom spatial parallel manipulator. ASME J Mech Des 122 (2000) 17-24
4. Dunlop G.R., and Jones T.P. Position analysis of a two-DOF parallel mechanism-Canterbury tracker. Mech Mach Theory 34 (1999) 599-614
5. Lee K.-M., and Arjunan S. A three-degrees-of-freedom micromotion in-parallel actuated manipulator. IEEE Trans Rob Automat 7 5 (1991) 634-641
6. Fedewa D, Mehrabi MG, Kota S, Orlandea N, Gopalakrishnan V. Parallel structures and their applications in reconfigurable machining systems. In: Proceedings of the 2000 parallel kinemati machines-international conference, Ann-Arbor, MI, September 13-15, 2000. p. 87-97.
7. Huang T., Li Z., Li M., Chetwynd D., and Gosselin C.M. Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations. ASME J Mech Des 126 (2004) 449-455
8. Zhang D., and Gosselin C.M. Kinetostatic modeling of parallel mechanisms with a passive constraining leg and revolute actuators. Mech Mach Theory 37 (2002) 599-617
9. Tsai L.-W. Robot analysis: the mechanics of serial and parallel manipulators (1999), Wiley, New York
10. Dasgupta B., and Mruthyunjaya T.S. A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator. Mech Mach Theory 33 (1998) 1135-1152
11. Li Y-W, Wang J, Wang L-P, Liu X-J. Inverse dynamics and simulation of a 3-DOF spatial parallel manipulator. In: Proceedings of the IEEE international conference on robotics & automation, Taipei, Taiwan, 2003. p. 4092-97.
12. Staicu S. Modèle dynamique en robotique. Sci Bull Ser D Mech Eng 61 3-4 (1999) 5-19
13. Staicu S. Méthodes matricielles en dynamique des mécanismes. Sci Bull Ser D Mech Eng 62 3 (2000) 3-12
14. Ji Z. Dynamics decomposition for Stewart platforms. ASME J Mech Des 116 1 (1994) 67-69
15. Dasgupta B., and Choudhury P. A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel manipulators. Mech Mach Theory 34 6 (1999) 801-824
16. Geng Z., Haynes L.S., Lee J.D., and Caroll R.L. On the dynamic model and kinematic analysis of a class of Stewart platforms. Rob Auton Syst 9 (1991) 237-254
17. Wang L.C.T., and Chen C.C. On the dynamic analysis of a general parallel robotic manipulators. Int J Rob Automat 9 2 (1994) 81-87
18. Lee K.-M., and Shah D.K. Dynamic analysis of a three-degree-freedom in-parallel actuated manipulator. IEEE J Rob Automat 4 3 (1988) 361-367
19. Tsai L.-W. Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work. ASME J Mech Des 122 1 (2000) 3-9
20. Pang H., and Shahinpoor M. Inverse dynamics of a parallel manipulator. J Rob Syst 11 8 (1994) 693-702
21. Bhattacharya S., Nenchev N.D., and Uchiyama M. A recursive formula for the inverse of the inertia matrix of a parallel manipulator. Mech Mach Theory 33 7 (1998) 957-964
22. Zanganeh K.E., Sinatra R., and Angeles J. Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs. Robotica 15 4 (1997) 385-394
23. Kane T.R., and Levinson D.A. Dynamics: theory and applications (1985), McGraw-Hill, New York
24. Sorli M., Ferraresi C., Kolarski M., Borovac B., and Vukobratovic M. Mechanics of turin parallel robot. Mech Mach Theory 32 1 (1997) 51-77
25. Staicu S., Zhang D., and Rugescu R. Dynamic modelling of a 3-DOF parallel manipulator using recursive matrix relations. Robotica 24 1 (2006) 125-130
26. Staicu S, Carp-Ciocardia DC. Dynamic analysis of Clavel's delta parallel robot. In: Proceedings of the IEEE international conference on robotics & automation ICRA'03, Taipei, Taiwan, 2003. p. 4116-21.
27. Zhang D. Kinetostatic analysis and optimization of parallel and hybrid architectures for machine tools. PhD thesis, Laval University, Quebec, 2000.
28. Staicu S. Planetary gear train for robotics. In: Proceedings of the IEEE international conference on mechatronics ICM/HIMA'05, Taipei, Taiwan, 2005. p. 840-5.