Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom
An approach is presented for automatically generating inverse dynamic solutions for planar parallel manipulators with 3 DOF and spatial parallel manipulators with 6 DOF, thereby eliminating the errors and tedium associated with hand derivations. Kinematic and dynamic equations are formulated using a combination of linear graph theory, the principle of virtual work, and symbolic programming. A planar RRR manipulator and a Gough-Stewart platform are used to validate the inverse dynamic formulations, and to compare their computational efficiencies.
KeywordsMultibody System Parallel Manipulator Virtual Work Inverse Dynamic Analysis Symbolic Programming
Unable to display preview. Download preview PDF.
- Ma, O., and Angeles, J. (1989) Direct Kinematics and Dynamics of a Planar 3-DOF Parallel Manipulator. In Advances in Design Automation - 1989, 3: 313–320.Google Scholar
- McPhee, J., Shi, P., and Piedboeuf, J.-C. (1999) Inverse Dynamics of Multibody Systems using Virtual Work and Symbolic Programming. In Proceedings of the Euromech Colloquium 404 on Advances in Computational Multibody Dynamics.Google Scholar
- Schiehlen, W., ed. (1990) Multibody Systems Handbook. Berlin: Springer-Verlag.Google Scholar