Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator

被引：20

作者：

Arian, Alaleh ^{[1
]}

Danaei, Behzad ^{[2
]}

Abdi, Hamid ^{[1
]}

Nahavandi, Saeid ^{[1
]}

机构：

[1] Deakin Univ, Inst Intelligent Syst Res & Innovat, Waurn Ponds Campus, Geelong, Vic 3217, Australia

[2] Univ Melbourne, Melbourne Sch Engn, Parkville, Vic 3010, Australia

来源：

APPLIED MATHEMATICAL MODELLING | 2017年 / 51卷

关键词：

Kinematic analysis; Dynamic analysis; Parallel manipulator; Newton-Euler; Virtual work; STEWART PLATFORM MANIPULATOR; INVERSE DYNAMICS; VIRTUAL WORK; MACHINE-TOOL; ROBOT; PRINCIPLE; FORMULATION; EQUATIONS; MODELS;

D O I：

10.1016/j.apm.2017.06.012

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper deals with the mathematical modeling of kinematics and dynamics of the 3-degrees-of-freedom Gantry-Tau manipulator. Compared to many other parallel robots, Gantry-Tau offers a large accessible workspace and high stiffness. The kinematics of Gantry-Tau is presented which includes inverse kinematics formulation for the position, velocity and acceleration of the mechanism. Also, based on the obtained Jacobin matrices, singular configurations of the robot are studied. Afterwards, the equations of the inverse dynamic model of the Gantry-Tau are obtained through two different methods, i.e., virtual work and Newton Euler. Finally, a case study is performed to verify the correctness of the derived models and investigate their computational efficiency. (C) 2017 Elsevier Inc. All rights reserved.

引用

页码：217 / 231

页数：15

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