Dynamics analysis of a 3-RRP spherical parallel manipulator using the natural orthogonal complement

被引：31

作者：

Akbarzadeh, Alireza ^{[1
]}

Enferadi, Javad ^{[2
]}

Sharifnia, Mahdi ^{[1
]}

机构：

[1] Ferdowsi Univ Mashhad, Ctr Excellence Soft Comp & Intelligent Informat P, ME Dept, Mashhad, Iran

[2] Islamic Azad Univ, ME Dept, Mashhad Branch, Mashhad, Iran

来源：

MULTIBODY SYSTEM DYNAMICS | 2013年 / 29卷 / 04期

关键词：

Spherical parallel manipulator; Natural orthogonal complement; Inverse dynamics; Direct dynamics; INVERSE DYNAMICS; KINEMATICS; FORMULATION; SIMULATION;

D O I：

10.1007/s11044-012-9321-z

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

In the present research, application of the Natural Orthogonal Complement (NOC) for the dynamic analysis of a spherical parallel manipulator, referred to as SST, is presented. Both inverse and direct dynamics are considered. The NOC and the SST fully parallel robot are explained. To drive the NOC for the SST manipulator, constraints between joint variables are written using the transformation matrices obtained from three different branches of the robot. The Newton-Euler formulation is used to model the dynamics of each individual body, including moving platform and legs of the manipulator. D'Alembert's principle is applied and Newton-Euler dynamical equations free from non-working generalized constraint forces are obtained. Finally two examples, one for direct and one for inverse dynamics are presented. The correctness and accuracy of the obtained solution are verified by comparing with the solution of the virtual work method as well as commercial multi-body dynamics software.

引用

页码：361 / 380

页数：20

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