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Complete dynamic modelling of a moving base 6-dof parallel manipulator

Published online by Cambridge University Press:  21 September 2009

António M. Lopes
António M. Lopes*
Affiliation:
Unidade de Integração de Sistemas e Processos Automatizados, Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
*
*Corresponding author. E-mail: aml@fe.up.pt
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Summary

In this paper a new approach based on the generalized momentum is used to obtain the dynamic model of a six degrees-of-freedom (dof) parallel manipulator. First, the system dynamic equations are obtained supposing the manipulator base platform is fixed. Afterwards, the dynamic model is extended to the case of a moving base platform. This could be important in a macro/micro robotic application, where a small manipulator is attached in series to a big manipulator. Simulation results of a macro/micro robotic system are presented and the contribution of the base platform motion to the total actuating forces is shown.

Keywords

RoboticsParallel manipulatorsRobot dynamicsGeneralized momentumMoving base

Information

Type
Article
Information
Robotica , Volume 28 , Issue 5 , September 2010 , pp. 781 - 793
Copyright
Copyright © Cambridge University Press 2009

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