Conference Paper

Body-oriented method for finding a linear form of the dynamic equation of fully parallel robots

Inst. of Robotics, Eidgenossische Tech. Hochschule, Zurich
DOI: 10.1109/ROBOT.1997.614371 Conference: Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, Volume: 2
Source: IEEE Xplore


In order to identify the dynamic parameters in nonlinear adaptive
control the robot's dynamic equation has to be written in a linear form.
Many methods have been proposed for serial robots, but for parallel
robots, the few solutions proposed so far lead to complicated equations
that are not readily usable for real-time implementation. In this paper
we propose a new method based on the virtual work principle to find a
linear form of the dynamic equation of robots. Compared to other
methods, it has the advantage that it does not need to open the closed
loop structure into a tree-structure robot. It considers rather each
body separately using its Jacobian matrix to project the forces into the
joint space of the robot. Thus, simplification can be made at the very
beginning of the modeling. This is very efficient when used to model
fully parallel robots. As an illustration, the proposed method is
applied to the 3dof DELTA parallel robot

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Available from: Etienne Burdet, May 19, 2015
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    • "For instance, the Lagrange–Euler formalism has been used in the works of Lee and Shah [1], Geng et al. [2] and Lebret et al. [3], Ait- Ahmed [4], Bhattacharya et al. [5] [6] and Liu et al. [7]. The principle of virtual work has been used by Tsai [8], Codourey [9] and Staicu [10] [11]. On the other hand, Newton–Euler equations have been used in the work of Sugimoto [12], Reboulet et al. [13], Ji [14], Gosselin [15] and Dasgupta et al. [16] [17]. "
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    • "Several approaches have been applied to the dynamics analysis of parallel manipulators. They mainly can be classified into four categories: the Newton-Euler method [32] [33] [34] [35] [36] [37] [38] [39] [40] [41], Lagrangian method [42] [43] [44] [45] [46] [47] [48], Kane's method [49] [50] and virtual work principle method [51] [52] [53] [54] [55] [56] [57] [58] [59] [60] [61] [62]. In fact, the inverse dynamics of parallel manipulators almost involve all the mechanics principles. "
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