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A Closed-Form Dynamics of a Novel Fully Wrist Driven by Revolute Motors

Published online by Cambridge University Press:  24 May 2016

J. Enferadi  and
A. Shahi
J. Enferadi*
Affiliation:
Department of Mechanical EngineeringMashhad BranchIslamic Azad UniversityMashhad, Iran
A. Shahi
Affiliation:
Department of Mechanical EngineeringMashhad BranchIslamic Azad UniversityMashhad, Iran
*
*Corresponding author ([email protected])
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Abstract

This paper proposes a systematic methodology to obtain a closed-form formulation for dynamics analysis of a novel spherical robot that is called a 3(RPSP)-S parallel manipulator. The proposed manipulator provides high rotational displacement of the moving platform for low angular displacement of the motors. The advised robot is suitable for repetitive oscillatory applications (for example, wrist and ankle rehabilitation and table of autopilot and gyroscope life test, etc.). First, we describe the structure of the proposed manipulator and solve the inverse kinematics problem of the manipulator. Next, based on the principle of virtual work, a methodology for deriving the dynamical equations of motion is developed. The elaborated approach shows that the inverse dynamics of the manipulator can be reduced to solving a system of three linear equations in three unknowns. Finally, a computational algorithm to solve the inverse dynamics of the manipulator is advised and several trajectories of the moving platform are simulated and verified by a special dynamics modeling commercial software (MSC ADAMS).

Keywords

Spherical parallel manipulatorJacobian matrixInverse kinematicsVirtual work
Type
Research Article
Information
Journal of Mechanics , Volume 32 , Issue 4 , August 2016 , pp. 479 - 490
Copyright
Copyright © The Society of Theoretical and Applied Mechanics 2016 

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