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

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