Kinematic and Dynamic Analysis of a 3-■US Spatial Parallel Manipulator

作     者：Mervin Joe Thomas M.L.Joy A.P.Sudheer 

作者机构：Mechatronics/Robotics LabDepartment of Mechanical EngineeringNational Institute of Technology CalicutKozhikodeIndia 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2020年第33卷第1期

页      面：114-130页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：Parallel manipulator Kinematic modelling Workspace analysis Euler-Lagrangian modelling Singularity analysis Stiffness analysis 

摘      要：Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector *** are found in medical,assembly and manufacturing industries where accuracy is *** is often desired to have a compact and simple architecture for the robotic *** this paper,the kinematic and dynamic analysis of a novel 3-PRUS(P:prismatic joint,R:revolute joint,U:universal joint,S:spherical joint)parallel manipulator with a mobile platform having 6 Degree of Freedom(Do F)is *** kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg(DH)technique considering both active and passive *** kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace.A Jacobian based sti ness analysis is done to understand the variations in sti ness for different poses of the mobile platform and further,it is used to decide trajectories for the end effector within the singularity free *** analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system *** gravity and inertial forces of all links are considered in the mathematical *** analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.