The Dynamic Analysis of a Planar Parallel Manipulator with Joint-Coupling

Author

Theingi ; Chen, I-Ming ; Li, Chuan ; Angeles, Jorge

Author_Institution

Sch. of Mech. Eng., Yangon Technol. Univ.

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

6

Abstract

In this paper, the dynamics of planar parallel manipulators with joint-coupling is presented. In the manipulator with joint-coupling, the actuator torques are distributed among the coupled joints. Hence, the dynamic behavior of the manipulator and the trajectory planning will be different from those manipulators without joint-coupling. Furthermore, the coupling coefficients of the joint-coupling provide an additional way to adjust the dynamic performance of the manipulator. Because of joint-coupling, the total power consumption along the desired trajectory becomes a function of the coupling coefficients. With a maximum limit on the motor torque output, it is possible to find an appropriate set of coupling coefficients that minimize the total power consumption

Keywords

manipulator dynamics; path planning; position control; distributed actuator torques; dynamic analysis; joint coupling; manipulator dynamic performance; motor torque output; planar parallel manipulator; trajectory planning; Acceleration; Actuators; Couplings; Energy consumption; Equations; Geometry; Lagrangian functions; Manipulator dynamics; Mechanical engineering; Torque; coupling coefficients; joint-coupling; singularity;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345413

Filename

4150217