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Kinematics and dynamics Hessian matrices of manipulators based on screw theory

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Abstract

The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process. However, the traditional representations cannot achieve this because of the absence of coordinate invariance. Therefore, the coordinate invariant method is an important research issue. First, the rigid-body acceleration, the time derivative of the twist, is proved to be a screw, and its physical meaning is explained. Based on the twist and the rigid-body acceleration, the acceleration of the end-effector is expressed as a linear-bilinear form, and the kinematics Hessian matrix of the manipulator(represented by Lie bracket) is deduced. Further, Newton-Euler’s equation is rewritten as a linear-bilinear form, from which the dynamics Hessian matrix of a rigid body is obtained. The formulae and the dynamics Hessian matrix are proved to be coordinate invariant. Referring to the principle of virtual work, the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is derived. An index of dynamical coupling based on dynamics Hessian matrix is presented. In the end, a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics formulae. The screw theory based method can simplify the kinematics and dynamics of a manipulator, also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.

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Authors and Affiliations

  1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, China

    Tieshi Zhao, Mingchao Geng, Yuhang Chen, Erwei Li & Jiantao Yang

  2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao, 066004, China

    Tieshi Zhao, Mingchao Geng, Yuhang Chen, Erwei Li & Jiantao Yang

Authors
  1. Tieshi Zhao
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  2. Mingchao Geng
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  3. Yuhang Chen
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  4. Erwei Li
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  5. Jiantao Yang
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Corresponding author

Correspondence to Tieshi Zhao.

Additional information

Supported by National Natural Science Foundation of China(Grant Nos. 51375420, 51105322)

ZHAO Tieshi, born in 1963, is a professor at Yanshan University, China. His research interests include parallel robots and six-dimensional forces sensors, and Microelectromechanical Systems.

GENG Mingchao, born in 1984, is currently a PhD candidate at Yanshan University, China. His research interests include parallel robots and multi-bodies system dyanmics.

CHEN Yuhang, born in 1986, is currently a PhD candidate at Yanshan University, China. His research interests include parallel robots and vibration theory.

LI Erwei, born in 1987, is currently a PhD candidate at Yanshan University, China. His research interests include motion simulation platforms and its controls.

YANG Jiantao, born in 1989, is currently a master at Yanshan University, China. His research interests include parallel robots and controls of robots.

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Zhao, T., Geng, M., Chen, Y. et al. Kinematics and dynamics Hessian matrices of manipulators based on screw theory. Chin. J. Mech. Eng. 28, 226–235 (2015). https://doi.org/10.3901/CJME.2014.1230.182

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  • DOI: https://doi.org/10.3901/CJME.2014.1230.182

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