Dynamics modeling for a novel 3-DOF dual parallel manipulator considering the flexibility of compliant components

Yuan Yun; Yangmin Li

doi:10.1109/ICINFA.2009.5205137

Dynamics modeling for a novel 3-DOF dual parallel manipulator considering the flexibility of compliant components

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

2 Citations (Scopus)

Abstract

This paper is concerned with the design and modeling of a 3-DOF dual parallel robot with flexure hinges. Based on our previous research experiences in the systematical modeling and study of parallel robots, a dynamic modeling has been performed by using Kane's method and Newton- Euler equation. A state-space framework is defined to facilitate the design of an optimal controller. Numerical simulations are presented to verify the validity of both models. The investigations of this paper may not only have significance in robotics research, but also make contributions to the research on dynamic characteristics based on novel parallel manipulators.

Original language	English
Title of host publication	2009 IEEE International Conference on Information and Automation, ICIA 2009
Pages	1410-1415
Number of pages	6
DOIs	https://doi.org/10.1109/ICINFA.2009.5205137
Publication status	Published - 23 Nov 2009
Externally published	Yes
Event	2009 IEEE International Conference on Information and Automation, ICIA 2009 - Zhuhai, Macau, China Duration: 22 Jun 2009 → 25 Jun 2009

Conference

Conference	2009 IEEE International Conference on Information and Automation, ICIA 2009
Country/Territory	China
City	Zhuhai, Macau
Period	22/06/09 → 25/06/09

ASJC Scopus subject areas

Computational Theory and Mathematics
Computer Science Applications
Control and Systems Engineering

More information

10.1109/ICINFA.2009.5205137

Cite this

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abstract = "This paper is concerned with the design and modeling of a 3-DOF dual parallel robot with flexure hinges. Based on our previous research experiences in the systematical modeling and study of parallel robots, a dynamic modeling has been performed by using Kane's method and Newton- Euler equation. A state-space framework is defined to facilitate the design of an optimal controller. Numerical simulations are presented to verify the validity of both models. The investigations of this paper may not only have significance in robotics research, but also make contributions to the research on dynamic characteristics based on novel parallel manipulators.",

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Yun, Y & Li, Y 2009, Dynamics modeling for a novel 3-DOF dual parallel manipulator considering the flexibility of compliant components. in 2009 IEEE International Conference on Information and Automation, ICIA 2009., 5205137, pp. 1410-1415, 2009 IEEE International Conference on Information and Automation, ICIA 2009, Zhuhai, Macau, China, 22/06/09. https://doi.org/10.1109/ICINFA.2009.5205137

Dynamics modeling for a novel 3-DOF dual parallel manipulator considering the flexibility of compliant components. / Yun, Yuan; Li, Yangmin.
2009 IEEE International Conference on Information and Automation, ICIA 2009. 2009. p. 1410-1415 5205137.

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

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Dynamics modeling for a novel 3-DOF dual parallel manipulator considering the flexibility of compliant components

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