Inverse Kinematic and Dynamic Analyses of the 6-UCU Parallel Manipulator

Abstract:

From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.

• Periodical: Applied Mechanics and Materials (Volume 127)
• Pages: 172-180
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.127.172
• Online since: October 2011
• Authors: Guo Jun Liu, Shu Tao Zheng, Peter O. Ogbobe, Jun Wei Han
• Keywords: 6-UCU Parallel Manipulator, Inverse Dynamic Analysis, Inverse Kinematic Analysis, Newton-Euler Method, Stewart Platform

References

[1] V. E. Gough, S. G. Whitehall: FISITA 9th International Technical Congress (May, 1962). p.117–137.

[2] Information on http: /www. parallemic. org/Reviews/Review007. html.

[3] D. Stewart: Proc. of the Institution of Mechanical Engineers (1965). Vol. 180, pp.371-386.

[4] J.P. Merlet: Parallel Robots (Second Edition) (Springer, Netherlands, 2006), pp.70-93.

[5] Ou Ma: Mechanical Analysis of Parallel Manipulators with Simulation, Design and Control Applications (Ph.D., McGill University, Canada 1991), p.

[6] J. Blaise, I. Bonev, B. Monsarrat, S. Briot, J. M. Lambert, C. Perron: Industrial Robot, Vol. 37 (2010) NO. 1, p.79–88.

DOI: 10.1108/01439911011009984

[7] J. M. Ma: Analysis of Singular Configuration and Research of its Solving Method of the Hydraulic Stewart Platform of Flight Simulator (Ph.D., Harbin Institute of Technology, China, 2010), pp.43-92.

[8] B. Dasgupta, T. S. Mruthyunjaya: Mechanism and Machine Theory, Vol. 33 (1998) NO. 7, pp.993-1012.

[9] L. W. Tsai: Journal of Mechanical Design, Vol. 122 (2000) NO. 3, pp.3-9.

[10] A. M. Lopes: Communications in Nonlinear Science and Numerical Simulation, Vol. 14 (2009) NO. 8, pp.3389-3401.

[11] S. Staicu: Robotics and Computer-Integrated Manufacturing, Vol. 27 (2011) NO. 1, p.212–220.

[12] M. Vakil, H. Pendar: Mechanism and Machine Theory, Vol. 43 (2008) NO. , p.1349–1351.

[13] J.M. Rico, J. Duffy: Journal of Mechanical Design, Vol. 122 (2000) NO. 3, pp.299-303.

[14] K. Harib, K. Srinivasan: Robotica, Vol. 21 (2003), pp.541-554.

[15] D. Li, S. E. Salcudean: Proc. of the 1997 International Conference on Robotics and Automation (Albuquerque, New Mexico, April 20-25, 1997), Vols. 1-4, pp.3360-3366.

[16] S. H. KOEKERAKKER: Model Based Control of a Flight Simulator Motion System (Ph.D., Delft University of Technology, Netherlands, 2001) pp.31-73.

[17] J.F. He: Analysis and Control of Hydraulically Driven 6-DOF Parallel Manipulator (Ph.D., Harbin Institute of Technology, China, 2007), pp.21-50.

[18] H. B. Guo, H. R. Li: Proc. of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Vol. 220 (2006) NO. 1, pp.61-72.

[19] J.M. Rico, J. Duffy: Mech. Mach. Theory, Vol. 31 (1996) NO. 4, pp.445-457.

[20] Information on http: /www. mathworks. com/help/toolbox/physmod/mech/ug/f2-117331. html.