Dynamic modeling of redundant parallel manipulators

Author

Kim, Sungbok ; Youngchul Key

Author_Institution

Dept. of Control & Instr. Eng., Hankuk Univ. of Foreign Studies, Kyoungki, South Korea

Volume

3

fYear

1996

fDate

11-13 Dec 1996

Firstpage

2468

Abstract

This paper presents the dynamic modeling of redundant parallel manipulators in joint and Cartesian spaces. Three types of redundancies of a parallel manipulator are considered, including the redundancies in serial chain, actuation, and parallelism. The joint space dynamic model of a parallel manipulator is obtained by imposing the joint space kinematic constraint on the joint space dynamics of individual limbs. The Cartesian space dynamic model of a parallel manipulator is then obtained by imposing the Cartesian space kinematic constraint on the joint space dynamic model. The dynamic models formulated in this paper enable us to analyze the effect of redundancies on the dynamic behavior of parallel manipulator

Keywords

manipulator dynamics; manipulator kinematics; redundancy; Cartesian space; Cartesian space dynamic model; actuation redundancies; joint space dynamic model; joint space kinematic constraint; redundant parallel manipulators; serial chain redundancies; Assembly; Joining processes; Kinematics; Manipulator dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.573460

Filename

573460