Udwadia-Kalaba Approach for Parallel Manipulator Dynamics

被引：39

作者：

Huang, Jin ^{[1
]}

Chen, Y. H. ^{[2
]}

Zhong, Zhihua ^{[3
]}

机构：

[1] Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Hunan, Peoples R China

[2] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA

[3] Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Coll Mech & Vehicle Engn, Changsha 410082, Hunan, Peoples R China

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2013年 / 135卷 / 06期

关键词：

parallel manipulator; Stewart-Gough platform; dynamic modeling; constraint; Udwadia-Kalaba equation; INVERSE DYNAMICS; MECHANISMS; SIMULATION; DESIGN;

D O I：

10.1115/1.4024600

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel Udwadia-Kalaba approach for parallel manipulator dynamics analysis is presented. The approach segments a parallel manipulator system into several leg-subsystems and the platform subsystem, which are connected by kinematic constraints. The Udwadia-Kalaba equation is then used to calculate the constraint forces due to the constraints. Based on this, the equation of motion, which is an explicit (i.e., closed) form, can be formulated. The method allows a systematic procedure to generate the dynamic model for both direct dynamics and inverse dynamics without invoking additional variables (such as multipliers or quasi-variables), nor does it require projection. A classical parallel Stewart-Gough platform is chosen to demonstrate the feasibility and advantages of this approach.

引用

页数：11

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