Hostname: page-component-586b7cd67f-tf8b9 Total loading time: 0 Render date: 2024-11-22T14:41:46.587Z Has data issue: false hasContentIssue false
  • English
  • Français

Inverse and forward dynamics of N-3RPS manipulator with lockable joints

Published online by Cambridge University Press:  02 January 2015

Ali Taherifar ,
Hassan Salarieh ,
Aria Alasty  and
Mohammad Honarvar
Ali Taherifar
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Hassan Salarieh*
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Aria Alasty
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Mohammad Honarvar
Affiliation:
Department of Mechanical Engineering, UBC University, Canada
*
*Corresponding author. E-mail: salarieh@sharif.edu
Get access Rights & Permissions [Opens in a new window]

Summary

The N-3 Revolute-Prismatic-Spherical (N-3RPS) manipulator is a kind of serial-parallel manipulator and has higher stiffness and accuracy compared with serial mechanisms, and a larger workspace compared with parallel mechanisms. The locking mechanism in each joint allows the manipulator to be controlled by only three wires. Modeling the dynamics of this manipulator presents an inherent complexity due to its closed-loop structure and kinematic constraints. In the first part of this paper, the inverse kinematics of the manipulator, which consists of position, velocity, and acceleration, is studied. In the second part, the inverse and forward dynamics of the manipulator is formulated based on the principle of virtual work and link Jacobian matrices. Finally, the numerical example is presented for some trajectories.

Keywords

Redundant manipulatorInverse dynamicsLockable jointsVirtual work
Type
Articles
Information
Robotica , Volume 34 , Issue 6 , June 2016 , pp. 1383 - 1402
Copyright
Copyright © Cambridge University Press 2015 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Zhang, Y., Wang, J. and Xia, Y., “A dual neural network for redundancy resolution of kinematically redundant manipulators subject to joint limits and joint velocity limits,” IEEE Trans. Neural Netw. Learn. Syst. 14 (3), 658–667 (2003).Google Scholar
2.Choset, H. and Henning, W., “A follow the leader approach to serpentine robot motion planning,” J. Aerospace Eng. 12 (2), 65–73 (1999).CrossRefGoogle Scholar
3.Ning, K. J. and Worgotter, F., “A novel concept for building a hyper-redundant chain robot,” IEEE Trans. Robot. 25 (6), 1237–1248 (2009).Google Scholar
4.Meghdari, A., “Conceptual design and dynamics modeling of a cooperative dual-arm cam-lock manipulator,” Robotica 14 (3), 301–310 (1996).Google Scholar
5.Osgouie, K. G., Meghdari, A. and Sohrabpour, S., “Optimal configuration of dual-arm cam-lock robot based on task-space manipulability,” Robotica 27 (1), 13–18 (2009).Google Scholar
6.Hu, B., Lu, Y., Yu, J. J. and Zhuang, S., “Analyses of inverse kinematics, statics and workspace of a novel 3RPS-3SPR serial–parallel manipulator,” Open Mech. Eng. J. 5, 65–72 (2012).Google Scholar
7.Gallardo-Alvarado, J., Aguilar-Nájera, C. R., Casique-Rosas, L., Rico-Martínez, J. M. and Islam, M. N., “Kinematics and dynamics of 2 (3-RPS) manipulators by means of screw theory and the principle of virtual work,” Mech. Mach. Theory 43 (10), 1281–1294 (2008).Google Scholar
8.Gallardo, J., Lesso, R., Rico, J. M. and Alici, G., “The kinematics of modular spatial hyper-redundant manipulators formed from RPS-type limbs,” Robot. Auton. Syst. 59 (1), 12–21 (2011).Google Scholar
9.Ibrahim, O. and Khalil, W., “Inverse and direct dynamic models of hybrid robots,” Mech. Mach. Theory 45 (4), 627–640 (2010).CrossRefGoogle Scholar
10.Tanev, T. K., “Kinematics of a hybrid (parallel–serial) robot manipulator,” Mech. Mach. Theory 35 (9), 1183–1196 (2000).CrossRefGoogle Scholar
11.Honarvar, M., “Design and Control of a New Tendon Actuated Manipulator With Lockable Joints,” In: (Sharif University of Technology, 2008) pp. 14–42.Google Scholar
12.Khalil, W. and Ibrahim, O., “General solution for the dynamic modeling of parallel robots,” J. Intell. Robot. Syst. 49 (1), 19–37 (2007).Google Scholar
13.Pang, H. and Shahinpoor, M., “Inverse dynamics of a parallel manipulator,” J. Robot. Syst. 11 (8), 693–702 (1994).Google Scholar
14.Tsai, L. W., “Solving the inverse dynamics of a Stewart–Gough manipulator by the principle of virtual work,” J. Mech. Des-T. (ASME) 122 (1), 3–9 (2000).Google Scholar
15.Angeles, J., Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (Springer, Berlin, Germany, 2006) pp. 287–363.Google Scholar
16.Gallardo, J., Rico, J., Frisoli, A., Checcacci, D. and Bergamasco, M., “Dynamics of parallel manipulators by means of screw theory,” Mech. Mach. Theory 38 (11), 1113–1131 (2003).Google Scholar
17.Geike, T. and McPhee, J., “Inverse dynamic analysis of parallel manipulators with full mobility,” Mech. Mach. Theory 38 (6), 549–562 (2003).Google Scholar
18.Murray, J. J. and Lovell, G. H., “Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control,” IEEE Trans. Robot. Autom. 5 (4), 522–528 (1989).Google Scholar
19.Lin, Y. J. and Song, S. M., “A comparative study of inverse dynamics of manipulators with closed-chain geometry,” J. Robot. Syst. 7 (4), 507–534 (1990).Google Scholar
20.Staicu, S., “Inverse Dynamics of the Spatial 3-RPS Parallel Robot,” Proc. Rom. Acad. A 13 (1), 62–70 (2012).Google Scholar
21.Li, Y. G., Liu, H. T., Zhao, X. M., Huang, T. and Chetwynd, D. G., “Design of a 3-DOF PKM module for large structural component machining,” Mech. Mach. Theory 45 (6), 941–954 (2010).Google Scholar
22.Staicu, S., “Modèle dynamique en robotique,” UPB Sci. Bull. D 61 (3–4), 5–19 (1999).Google Scholar
23.Staicu, S., “Methodes matricielles en cinématique des mécanismes,” UPB Sci. Bull. D 62 (1), 3–10 (2000).Google Scholar
24.Shafahi, M., “Optimization, Manufacturing and Utilization of a New Tendon Actuated Hyper Redundant Manipulator,” In: Mechanical Engineering (Sharif University of Technology, 2011) pp. 33–79.Google Scholar
25.Taherifar, A., Alasty, A., Salarieh, H. and Boroushaki, M., “Path planning for a hyper-redundant manipulator with lockable joints using PSO,” Proceedings of the, 2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran (2013) pp. 224–229.Google Scholar