Inverse Kinematic and Dynamic Analyses of 6-DOF PUS Type parallel Manipulators

  • Kim, Jong-Phil (Graduate School, Department of Mechatronics, Kwangju Institute of Science and Technology, Kwangju 500-712) ;
  • Jeha Ryu (Department of Mechatronics, Kwangju Institute of Science and Technology)
  • Published : 2002.01.01

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.

Keywords

References

  1. Codourey A., 1998, 'Dynamic Modeling of Parallel Robots for Computed-Torque Control Implementation,' The International Journal of Robotic Research, Vol. 17, No. 12, pp. 1325-1336 https://doi.org/10.1177/027836499801701205
  2. Dasgupta B., and Mruthyunjaya T. S., 1998, 'A Newton-Euler Formulation for the Inverse Dynamics of the Stewart Platform Manipulator,' J. Mech. Mach. Theory, Vol. 33, No. 8, pp. 1135-1152 https://doi.org/10.1016/S0094-114X(97)00118-3
  3. Dasgupta B., and Choudhury P., 'A General Strategy Based on the Newton-Euler Approach for the Dynamic Formulation of Parallel Manipulators,' J. Mech. Mach. Theory. Vol. 34, pp. 801-824 https://doi.org/10.1016/S0094-114X(98)00081-0
  4. Gosselin C. M., 1996, 'Parallel Computation Algorithms for the Kinemaics and Dynamics of Parallel Manipulators,' J. of Dynamic Systems Measurement & Control-Transactions of the ASME, V. 118 N. 1
  5. Honegger M., 1998, 'Nonlinear Adaptive Control of a 6 DOF Parallel Manipulator, MOVIC'98, Zurich, Switzerland, August 25-28, Vol. 3, pp. 961-966
  6. Ji A., 1993, 'Study of the Effect of Leg Inertia in Stewart Platforms,' Proc. of the IEEE Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 121-126 https://doi.org/10.1109/ROBOT.1993.291971
  7. Kim M. K., Park C. G., and Lee K. I., 1998, 'Dynamic Analysis Considering the Effect of Leg Inertia and Design of Adaptive Controller in a Stewart Platform,' Proc. of'98 KSME fall annual meeting, Vol. A., pp. 657-662
  8. Lebret G., Liu K., and Lewis F. L., 1993, 'Dynamic Analysis and Control of a Stewart Platform Manipulator,' J. Robot. Sys., 10(5):629-655 https://doi.org/10.1002/rob.4620100506
  9. Lee C. W., and Kim N. N., 1999, 'Model-Based Control System Design and Sliding Mode Control of Stewart Platform Manipulator,' Trans. of KSME, A, Vol. 23, No. 6, pp. 903-911
  10. Miller K., 1993, 'The Proposal of a new Model of Direct-Drive Robot DELTA-4 Dynamics,' Proc. of '93 ICAR, the Int. Conf. on Robot., pp. 411-416
  11. Reboulet C., and Berthomieu T., 1991, 'Dynamic Models of a Six-Degree-of-Freedom Parallel Manipulator,' Proc. of '91 ICAR, the Int. Conf. on Adv. Robot., vol. 2, pp. 1153-1157 https://doi.org/10.1109/ICAR.1991.240400
  12. Toyoda, 1996, 'Parallel Mechanism Based Milling Machine,' Cat. No. 96 1110-0 JO. Merlet, J-P., 1997, Les Robots Paralleles, ., Hermes, Paris