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 proceedingConference article published in proceeding or bookAcademic researchpeer-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 languageEnglish
Title of host publication2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PublisherIEEE Computer Society
Pages828-833
Number of pages6
ISBN (Print)9781479939787
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014 - Tianjin, China
Duration: 3 Aug 20146 Aug 2014

Conference

Conference11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
CountryChina
CityTianjin
Period3/08/146/08/14

Keywords

  • Dynamics
  • Kinematics
  • Over-constrained parallel mechanism

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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