Advertisement

Dynamic Performance Indices for 3-DOF Parallel Manipulators

  • R. Di Gregorio
  • V. Parenti-Castelli
Chapter

Abstract

This paper presents three new indices for the characterization of the dynamic behavior of 3-dof parallel manipulators. The first index measures the dynamic isotropy of the manipulator, whereas the second and the third indices measure the manipulator swiftness, that is the manipulator capability to produce end-effector acceleration. They allow dynamic behavior of different manipulators to be compared. The indices can be easily expressed as functions of both the parameters locating the end-effector pose and the inertial and the geometric parameters of the links Moreover, based on their properties, a simple design procedure to size a three-dof manipulator so that it fulfills given dynamic requirements is presented.

Keywords

3-dof parallel manipulators dynamic isotropy index acceleration index 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Angeles, J. (1997), Fundamentals of robotic mechanical systems, Springer-Verlag, New York (USA), p. 219.zbMATHCrossRefGoogle Scholar
  2. Asada, H. (1983), A geometrical representation of manipulator dynamics and its applications to arm design, ASME Journal of Dynamic Systems, Measurement, and Control, 105, No. 3, pp. 131–135.zbMATHCrossRefGoogle Scholar
  3. Baiges, I.J:, and Duffy, J., (1996), “Dynamic modelling of parallel manipulators,” 1996 ASME DETC,Paper 96-DETCIMECH-1136, Irvine, California.Google Scholar
  4. Clavel, R. (1988), DELTA: a fast robot with parallel geometry, Proc. of the 18th International Symposium on Industrial Robots, Sydney, Australia, pp. 91–100.Google Scholar
  5. Do, W.Q.D., and Yang, D.C.H. (1988), Inverse dynamic analysis and simulation of a platform type of robot, Journal of Robotic Systems, 5, No. 3, pp. 209–227.zbMATHCrossRefGoogle Scholar
  6. Pang, H., and Shahingpoor, M. (1994), Inverse dynamics of a parallel manipulator, Journal of Robotic Systems, 11, No. 8, pp. 693–702.zbMATHCrossRefGoogle Scholar
  7. Pierrot, F., Dauchez, P., and Fournier, A. (1991), Hexa a fast six-dof fully parallel robot, Proceedings of the 5th International Conference on Advanced Robotics, Pisa (Italy), pp. 1158–1163.Google Scholar
  8. Tsai, L.W. (2000), Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work, ASME Journal of Mechanical Design, 122, No. 1, pp. 3–9.CrossRefGoogle Scholar
  9. Wang, J., and Gosselin, C.M. (1998), A new approach for the dynamic analysis of parallel manipulators, Multibody System Dynamics, 2, pp. 317–334.MathSciNetzbMATHCrossRefGoogle Scholar
  10. Wiens, G.J., Scott, R.A., and Zarrugh, M.Y. (1989), The role of inertia sensitivity in the evaluation of manipulator performance, ASME Journal of Mechanical Design, Vol. 111, pp. 194–199.Google Scholar
  11. Yoshikawa, T. (1990), Foundations of robotics: analysis and control, The Mit Press, Cambridge, Massachusetts.Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • R. Di Gregorio
    • 1
  • V. Parenti-Castelli
    • 2
  1. 1.Department of EngineeringUniversity of FerraraFerraraItaly
  2. 2.DIEMUniversity of BolognaBolognaItaly

Personalised recommendations