Dynamics analysis of a novel over-constrained three-DOF parallel manipulator

Bin Li; Yangmin Li; Weimin Ge; Xinhua Zhao; Yuwei Yang

doi:10.1109/ICMA.2014.6885804

Dynamics analysis of a novel over-constrained three-DOF parallel manipulator

Bin Li, Yangmin Li, Weimin Ge, Xinhua Zhao, Yuwei Yang

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

11 Citations (Scopus)

Abstract

In this paper, a novel over-constrained three degree-of-freedom (DOF) spatial parallel manipulator (SPM) is proposed. The architecture of the SPM is comprised of a moving platform attached to a base through two revolute- prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic joints are considered to be actively actuated. Kinematics and dynamics of the SPM are studied systematically. Firstly, both of the inverse and forward displacements are derived by analytic formulae. Then, the velocities and the accelerations of the moving platform and each limb are obtained. Finally, dynamics of the mechanism is derived based on the principal of the virtual work. The results are illustrated by numerical examples.

Original language	English
Title of host publication	2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
Publisher	IEEE Computer Society
Pages	828-833
Number of pages	6
ISBN (Print)	9781479939787
DOIs	https://doi.org/10.1109/ICMA.2014.6885804
Publication status	Published - 1 Jan 2014
Externally published	Yes
Event	11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014 - Tianjin, China Duration: 3 Aug 2014 → 6 Aug 2014

Conference

Conference	11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
Country/Territory	China
City	Tianjin
Period	3/08/14 → 6/08/14

Keywords

Dynamics
Kinematics
Over-constrained parallel mechanism

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering
Mechanical Engineering

More information

10.1109/ICMA.2014.6885804

Cite this

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abstract = "In this paper, a novel over-constrained three degree-of-freedom (DOF) spatial parallel manipulator (SPM) is proposed. The architecture of the SPM is comprised of a moving platform attached to a base through two revolute- prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic joints are considered to be actively actuated. Kinematics and dynamics of the SPM are studied systematically. Firstly, both of the inverse and forward displacements are derived by analytic formulae. Then, the velocities and the accelerations of the moving platform and each limb are obtained. Finally, dynamics of the mechanism is derived based on the principal of the virtual work. The results are illustrated by numerical examples.",

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Li, B, Li, Y, Ge, W, Zhao, X & Yang, Y 2014, Dynamics analysis of a novel over-constrained three-DOF parallel manipulator. in 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014., 6885804, IEEE Computer Society, pp. 828-833, 11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014, Tianjin, China, 3/08/14. https://doi.org/10.1109/ICMA.2014.6885804

Dynamics analysis of a novel over-constrained three-DOF parallel manipulator. / Li, Bin; Li, Yangmin; Ge, Weimin et al.
2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014. IEEE Computer Society, 2014. p. 828-833 6885804.

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

TY - GEN

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AU - Li, Yangmin

AU - Ge, Weimin

AU - Zhao, Xinhua

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AB - In this paper, a novel over-constrained three degree-of-freedom (DOF) spatial parallel manipulator (SPM) is proposed. The architecture of the SPM is comprised of a moving platform attached to a base through two revolute- prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic joints are considered to be actively actuated. Kinematics and dynamics of the SPM are studied systematically. Firstly, both of the inverse and forward displacements are derived by analytic formulae. Then, the velocities and the accelerations of the moving platform and each limb are obtained. Finally, dynamics of the mechanism is derived based on the principal of the virtual work. The results are illustrated by numerical examples.

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M3 - Conference article published in proceeding or book

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BT - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

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Dynamics analysis of a novel over-constrained three-DOF parallel manipulator

Abstract

Conference

Keywords

ASJC Scopus subject areas

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