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

Song Lu; Yangmin Li

doi:10.1109/ROBIO.2015.7418984

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

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

7 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 language	English
Title of host publication	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Publisher	IEEE
Pages	1506-1511
Number of pages	6
ISBN (Electronic)	9781467396745
DOIs	https://doi.org/10.1109/ROBIO.2015.7418984
Publication status	Published - 1 Jan 2015
Externally published	Yes
Event	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai Dehan Hotel, Zhuhai, China Duration: 6 Dec 2015 → 9 Dec 2015

Conference

Conference	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/Territory	China
City	Zhuhai
Period	6/12/15 → 9/12/15

Keywords

dynamic dexterity
generalized inertia matrix
Parallel kinematic manipulator
performance evaluation

ASJC Scopus subject areas

Artificial Intelligence
Hardware and Architecture
Control and Systems Engineering

More information

10.1109/ROBIO.2015.7418984

Cite this

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

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.",

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Lu, S & Li, Y 2015, Dynamic dexterity evaluation of a 3-DOF 3-PUU parallel manipulator based on generalized inertia matrix. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015., 7418984, IEEE, pp. 1506-1511, IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Zhuhai, China, 6/12/15. https://doi.org/10.1109/ROBIO.2015.7418984

Dynamic dexterity evaluation of a 3-DOF 3-PUU parallel manipulator based on generalized inertia matrix. / Lu, Song; Li, Yangmin.
2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. IEEE, 2015. p. 1506-1511 7418984.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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

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ASJC Scopus subject areas

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