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Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

Published online by Cambridge University Press:  04 July 2014

Bo Hu ,
Jingjing Yu  and
Yi Lu
Bo Hu*
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P. R. China
Jingjing Yu
Affiliation:
Department of Mechanics and Electronics, Heibei Normal University of Science & Technology, Qinhuangdao, Hebei 066004, P. R. China
Yi Lu
Affiliation:
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
*
*Corresponding author. E-mail: hubo@ysu.edu.cn
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Summary

The inverse dynamics model of a novel (3-UPU)+(3-UPS+S) serial–parallel manipulator (S-PM) formed by a 3-UPU PM and a 3-UPS+S PM connected in serial is studied in this paper. First, the inverse position, velocity, and acceleration of this S-PM are studied systematically. Second, the velocity mapping relations between each component and the terminal platform of (3-UPU)+(3-UPS+S) S-PM are derived. Third, the dynamics model of the whole (3-UPU)+(3-UPS+S) S-PM is established by means of the principle of virtual work. The process for establishing the dynamics model of this S-PM is fit for other S-PMs.

Keywords

DynamicsKinematicsSerial-parallel manipulators
Type
Articles
Information
Robotica , Volume 34 , Issue 3 , March 2016 , pp. 687 - 702
Copyright
Copyright © Cambridge University Press 2014 

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