INVERSE DYNAMIC PROBLEM OF TWO PARALLEL MANIPULATORS WITH IDENTICAL LIMBS STRUCTURES

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YAZDANI MOJTABA; TALE MASOULEH MEHDI; HASANVAND MILAD; YAHYAPOUR IMAN; GHAFOURI TABRIZI MAHMOUD

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Journal: Modares Mechanical Engineering Year:2015 | Volume:14 | Issue:13 Page(s): 281-290

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Title

INVERSE DYNAMIC PROBLEM OF TWO PARALLEL MANIPULATORS WITH IDENTICAL LIMBS STRUCTURES

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Keywords

DYNAMIC MODELINGQ2

TRIPTERONQ2

QUADRUPTERONQ2

LAGRANGIAN APPROACHQ2

NEWTONIAN APPROACHQ2

Abstract

This paper aims to obtain the dynamic models of two over-constraint parallel mechanisms (PM) with 3-DOF (degree of freedom) and 4-DOF, the TRIPTERON and the QUADRUPTERON. The reasoning used in this paper is based on a judicious concept in detaching the whole mechanism into several subsystems and consecutive synergies between kinematic analysis, Lagrangian and NEWTONIAN APPROACHes. In this regard, the mechanisms are made equivalent to some subsystems and the equations of kinematic constraints are derived for all subsystems. Afterwards, upon resorting to LAGRANGIAN APPROACH and blending it with the latter kinematic relations, the dynamic model of each leg in task space is obtained. The dynamic model of the end-effector is written in virtue of Newton-Euler’s approach where it yields to three differential equations. Finally, the problem leads to a system of 12 equations for the TRIPTERON and 16 equations for the QUADRUPTERON, which do not require the usual simplifications in such problems. For the sake of comparison, the results are put into contrast by the one obtained with a dynamic analyzer software. The results obtained by both approaches are coherent, which affirms the correctness of the proposed algorithm.

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APA: Copy

YAZDANI, MOJTABA, TALE MASOULEH, MEHDI, HASANVAND, MILAD, YAHYAPOUR, IMAN, & GHAFOURI TABRIZI, MAHMOUD. (2015). INVERSE DYNAMIC PROBLEM OF TWO PARALLEL MANIPULATORS WITH IDENTICAL LIMBS STRUCTURES. MODARES MECHANICAL ENGINEERING, 14(13), 281-290. SID. https://sid.ir/paper/179715/en

Vancouver: Copy

YAZDANI MOJTABA, TALE MASOULEH MEHDI, HASANVAND MILAD, YAHYAPOUR IMAN, GHAFOURI TABRIZI MAHMOUD. INVERSE DYNAMIC PROBLEM OF TWO PARALLEL MANIPULATORS WITH IDENTICAL LIMBS STRUCTURES. MODARES MECHANICAL ENGINEERING[Internet]. 2015;14(13):281-290. Available from: https://sid.ir/paper/179715/en

IEEE: Copy

MOJTABA YAZDANI, MEHDI TALE MASOULEH, MILAD HASANVAND, IMAN YAHYAPOUR, and MAHMOUD GHAFOURI TABRIZI, “INVERSE DYNAMIC PROBLEM OF TWO PARALLEL MANIPULATORS WITH IDENTICAL LIMBS STRUCTURES,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 13, pp. 281–290, 2015, [Online]. Available: https://sid.ir/paper/179715/en

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