Kinematics and Dynamics Modeling of Spherical Parallel Manipulator

Omid Mahdizadeh, Afshin Zeinaddini Meymand, M. Mollahossein, S. Moosavian
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引用次数: 6

Abstract

Spherical parallel manipulators have been proposed for accurate and fast performance. In this paper, kinematics and dynamics of a spherical three degrees-of-freedom parallel manipulator are studied. First, both direct and inverse kinematics are solved by using a new geometric approach and defining a new appropriate set of coordinates. Then, based on the derived kinematics equations and Jacobian matrices of links, according to Lagrange method, the explicit dynamics formulation of the manipulator is developed. The obtained dynamics has been verified by using MSC.ADAMS and MATLAB Software, simultaneously. This explicit verified model is highly important to design and implement various model based control algorithms. So, a Fuzzy Adaptive PID controller is designed to show the controller’s operation on the manipulator. Discussing the obtained results reveal the merits and importance of the proposed modeling.
球面并联机械臂的运动学与动力学建模
球面并联机械臂具有精度高、速度快的特点。对球面三自由度并联机器人的运动学和动力学进行了研究。首先,采用一种新的几何方法和定义一组新的合适的坐标来求解正运动学和逆运动学。然后,在导出的连杆运动学方程和雅可比矩阵的基础上,根据拉格朗日法推导出机械手的显式动力学表达式。所得到的动力学特性用MSC进行了验证。同时使用ADAMS和MATLAB软件。这种明确的验证模型对于设计和实现各种基于模型的控制算法非常重要。因此,设计了一个模糊自适应PID控制器来显示控制器对机械臂的操作。通过对所得结果的讨论,揭示了该模型的优点和重要性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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