NDLI: Modular and Recursive Kinematics and Dynamics for Parallel Manipulators

Content Provider	Springer Nature Link
Author	Khan, Waseem Ahmad Krovi, Venkat N. Saha, Subir Kumar Angeles, Jorge
Copyright Year	2005
Abstract	Constrained multibody systems typically feature multiple closed kinematic loops that constrain the relative motions and forces within the system. Typically, such systems possess far more articulated degrees-of-freedom (within the chains) than overall end-effector degrees-of-freedom.Thus, actuation of a subset of the articulations creates mixture of active and passive joints within the chain.The presence of such passive joints interferes with the effective modular formulation of the dynamic equations-of-motion in terms of a minimal set of actuator coordinates as well the subsequent recursivesolution for both forward and inverse dynamics applications.Thus, in this paper, we examine the development of modular and recursive formulations of equations-of-motion in terms of a minimal set of actuated-joint-coordinates for an exactly-actuated parallel manipulators. The 3 RRR planar parallel manipulator, selected to serve as a case-study, is an illustrative example of a multi-loop, multi-degree-of-freedom system with mixtures of active/passive joints. The concept of decoupled natural orthogonal complement (DeNOC) is combined with the spatial parallelism inherent in parallel mechanisms to develop a dynamics formulation that is both recursive and modular. An algorithmic approach to the development of both forward and inverse dynamics is highlighted. The presented simulation studies highlight the overall good numerical behavior of the developed formulation, both in terms of accuracy and lack of formulation stiffness.
Starting Page	419
Ending Page	455
Page Count	37
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	14
Issue Number	3-4
e-ISSN	1573272X
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2005-01-01
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	recursive kinematics modular dynamics decoupled natural orthogonal complement parallel manipulators Optimization Vibration, Dynamical Systems, Control Mechanical Engineering Automotive and Aerospace Engineering, Traffic Electronic and Computer Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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