Dynamics analysis of the Star parallel manipulator |
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| Authors: | Stefan Staicu |
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| Affiliation: | 1. MOE Key Laboratory for Mechanism Theory and Equipment Design, International Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin 300072, PR China;2. Chair of Mechanisms and Robotics, Advanced Kinematics and Reconfigurable Robotics Lab, School of Natural and Mathematical Sciences, King''s College London, Strand, London WC2R 2LS, UK;1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China;2. Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao 066004, China;3. Shanghai Aerospace Equipments Manufacturer Co., Ltd., Shanghai 200245, China;4. Department of Aerospace Engineering, Ryerson University, Toronto, Canada |
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| Abstract: | Matrix relations in kinematics and dynamics of the Star parallel manipulator are established in this paper. The prototype of the manipulator is a three-degree-of-freedom mechanism, which consists of a system of parallel kinematical chains connecting to a moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each robot’s link. Further, the inverse dynamics problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Recursive formulae offer expressions and graphs for the power requirement comparison of each of three actuators in two computational complexities: complete dynamic model and simplified dynamic model. |
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