Dynamic dexterity evaluation of a 3-DOF 3-PUU parallel manipulator based on generalized inertia matrix

Song Lu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 Citations (Scopus)

Abstract

Dynamic performance evaluation that takes into account the inertial properties is an important issue for both the behavior analysis and dimensional synthesis of parallel kinematic manipulators (PKMs). Firstly, by virtue of the principle of virtual work, the complete inverse dynamic model of a 3-prismatic-universal-universal (PUU) parallel manipulator is formulated, which does not neglect the inertial and gravitational properties of the struts. The condition number of generalized inertia matrix can evaluate the mapping from joint accelerations to realizable joint torques. This paper utilizes the condition number of generalized inertia matrix as the index to evaluate the dynamic dexterity property of a 3-PUU PKM which possesses three translational degrees of freedom. For a given set of geometrical and inertia parameters, numerical simulations indicate that the global dynamic dexterity performance of this type of 3-PUU PKM is consistent with the local dynamic dexterity on a specific z-plane, it has the best dynamic dexterity at the center of task workspace and decreases from the center to the edge of task workspace.
Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PublisherIEEE
Pages1506-1511
Number of pages6
ISBN (Electronic)9781467396745
DOIs
Publication statusPublished - 1 Jan 2015
Externally publishedYes
EventIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai Dehan Hotel, Zhuhai, China
Duration: 6 Dec 20159 Dec 2015

Conference

ConferenceIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
CountryChina
CityZhuhai
Period6/12/159/12/15

Keywords

  • dynamic dexterity
  • generalized inertia matrix
  • Parallel kinematic manipulator
  • performance evaluation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Systems Engineering

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