Analysis and simplification of the rigid body dynamic model for a 6-UPS parallel kinematic machine under the uniform motion condition

Author

Lixin, Zhang ; Jinsong, Wang ; Liping, Wang

Author_Institution

Dept. of Precision Instrum. & Mech., Tsinghua Univ., Beijing, China

Volume

2

fYear

2003

fDate

8-13 Oct. 2003

Firstpage

980

Abstract

Due to the closed-loop mechanism, the rigid body dynamic model of the parallel kinematic machine (PKM) is very complex and difficult to be used in the real-time control system. Under the uniform motion condition, this paper presents a study on the analysis and simplification of the rigid body dynamic model for a 6-UPS PKM. Firstly, the dynamic model is developed by Newton-Euler approach and decomposed into fifteen subitems. According to the working situation, the dynamic characteristics of the subitems are analyzed by the means of numerical simulation. Finally, the simplifying strategies of the dynamic model are presented and verified. It is proved by the verification results that the simplifying strategies can improve the computational efficiency greatly and only bring small simplifying error.

Keywords

Newton method; closed loop systems; manipulator dynamics; manipulator kinematics; numerical analysis; 6-UPS parallel kinematic machine; Newton-Euler method; closed loop mechanism; dynamic characteristics; manipulator dynamics; manipulator kinematics; numerical simulation; real time control system; rigid body dynamic model; uniform motion condition; Computational efficiency; Control system synthesis; Friction; Instruments; Kinematics; Leg; Motion analysis; Nonlinear dynamical systems; Numerical simulation; Real time systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285721

Filename

1285721