A computationally efficient and novel closed-form model for inverse dynamics of over-constrained parallel manipulators

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-07-10 DOI:10.1016/j.mechmachtheory.2025.106144

Chao Yang , Wei Ye , Pedro Dinis Gaspar , Wenyong Yu , Qiaohong Chen , Yebo Lu

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引用次数: 0

Abstract

A closed-form and complete inverse dynamics model of over-constrained parallel mechanisms (PMs) is essential for evaluating the rationality of mechanism topologies. However, solving the complete dynamic model is challenging due to the presence of multi closed loops and over-constrained reaction forces. This work proposes a full dynamics model based on screw theory, Newton-Euler formulation, the principle of virtual work, and the principle of stiffness allocation. First, the position, velocity, and acceleration are analyzed based on the constraint characteristics of the mechanism. Then, the constraint wrenches are decomposed into two parts, kinematics-based and dynamics-based constraint wrenches. Third, the deformation coordination equation between limbs and moving platform is established by considering the influence of dynamic-based constraint wrenches, and derive reaction forces of the moving platform based on the equations of motion and stiffness allocation principle. Finally, the closed-form analytical solution of the remaining reaction and actuator forces are obtained. Simulation results confirm the effectiveness of the proposed model. This work offers a new feasible scheme achieving complete solution model of inverse rigid dynamics of over-constrained PMs.

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一种计算效率高的新型过约束并联机械臂逆动力学封闭模型

过约束并联机构的封闭完整逆动力学模型是评价机构拓扑合理性的基础。然而，由于存在多闭环和过度约束的反作用力，求解完整的动力学模型具有挑战性。本文提出了一个基于螺旋理论、牛顿-欧拉公式、虚功原理和刚度分配原理的全动力学模型。首先，根据机构的约束特性，对机构的位置、速度和加速度进行了分析。然后，将约束扳手分解为运动学约束扳手和动力学约束扳手两部分。第三，考虑基于动力的约束扳手的影响，建立了四肢与运动平台之间的变形协调方程，并根据运动方程和刚度分配原理推导出了运动平台的反作用力。最后，得到了剩余反作用力和作动器力的闭式解析解。仿真结果验证了该模型的有效性。本文提出了一种新的可行方案，实现了过约束pm逆刚体动力学的完整解模型。

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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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry