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Kinematics anddynamics of a six-degree-of-freedom parallel manipulator with revolutelegs

Published online by Cambridge University Press:  01 July 1997

Kourosh E. Zanganeh ,
Rosario Sinatra  and
Jorge Angeles
Kourosh E. Zanganeh
Affiliation:
Institute for Aerospace Studies, University of Toronto, Downsview, Ontario, Canada M3H 5T6. E-mail: kez@sdr.utias.utoronto.ca
Rosario Sinatra
Affiliation:
Istituto di Macchine, Facoltà d'Ingegneria, Università di Catania, Viale A. Doria 6, 95125 Catania, Italy. E-mail: rsinatra@im.ing.unict.it
Jorge Angeles
Affiliation:
Department of Mechanical Engineering & Centre for Intelligent Machines McGill University, Montreal, Quebec, Canada H3A 2K6. E-mail: angeles@cim.mcgill.ca
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Abstract

This paper presents the kinematics and dynamics of asix-degree-of-freedom platform-type parallel manipulator with six revolute legs,i.e. each leg consists of two links that are connected by a revolute joint.Moreover, each leg is connected, in turn, to the base and moving platforms bymeans of universal and spherical joints, respectively. We first introduce akinematic model for the manipulator under study. Then, this model is used toderive the kinematics relations of the manipulator at the displacement, velocityand acceleration levels. Based on the proposed model, we develop the dynamicsequations of the manipulator using the method of the natural orthogonalcomplement. The implementation of the model is illustrated by computersimulation and numerical results are presented for a sample trajectory in theCartesian space.

Keywords

Parallel manipulatorRevolutelegsKinematics and dynamicsNatural orthogonalcomplement
Type
Research Article
Information
Robotica , Volume 15 , Issue 4 , July 1997 , pp. 385 - 394
Copyright
© 1997 Cambridge University Press

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