UNIFICATION AND SIMPLIFICATION OF DYNAMICS OF LIMITED-DOF PARALLEL MANIPULATORS WITH LINEAR ACTIVE LEGS

作者：Lu Y^*; Hu B; Yu J

来源：International Journal of Robotics and Automation, 2010, 25(2): 81-88.

DOI：10.2316/Journal.206.2010.2.206-3211

• Parallel manipulator
• kinematics
• dynamics

A unified and simple approach is proposed for solving the dynamics of limited-dof parallel manipulators (PMs) with linear active legs. First, a general limited-dof PM is constructed and its inverse displacement, geometric constraints, static active forces and constrained wrench are analyzed, and a statics equation is derived. Second, some formulae are derived for solving the Jacobian matrices and velocity/acceleration of the piston/cylinder in the legs. Third, the inertia wrenches/gravity of the legs, and the friction loads of the joints are transformed into a part of the dynamic workload based on the unified forward velocity/accelerations of the platform and the legs. Fourth, formulae are derived for solving the dynamic workloads and the dynamic active/constrained wrench based on a statics equation. Finally, the solving procedures are illustrated by applying this approach to a 9-dof 3SPSH-SP PM.

• 出版日期2010
• 单位燕山大学