Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism

This paper presents a unified inverse kinematics and dynamics model of a metamorphic parallel mechanism with pure rotation and pure translation phases. By altering one rotation axis of the reconfigurable Hooke (rT) joints in the limbs, the mechanism can be switched into one of the two phases. To provide joint reaction forces for optimal design and control, Newton method is used in developing the dynamics model which is unified by combining geometric constraints and parameters in both phases. An analytical investigation provides special joint force decomposition and limb coordinate setup to decouple the dynamics equations between the platform and the limbs. This reduces the dynamics computation load from solving a 15 × 15 matrix to a 6 × 6 matrix. A numerical example is given to illustrate the proposed method and simulation results are explained and compared between the two phases. The work on this paper gives good reference for optimal design and control of this metamorphic parallel mechanism in different applications using two phases.

[1]  Pietro Fanghella,et al.  Parallel robots that change their group of motion , 2006, ARK.

[2]  Jian S. Dai,et al.  Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism , 2010 .

[3]  I-Ming Chen,et al.  Mechatronic Design and Locomotion of Amoebot - A Metamorphic Underwater Vehicle , 2003, J. Field Robotics.

[4]  Wisama Khalil,et al.  Inverse and direct dynamic modeling of Gough-Stewart robots , 2004, IEEE Transactions on Robotics.

[5]  Hong-Sen Yan,et al.  On the Mobility and Configuration Singularity of Mechanisms With Variable Topologies , 2007 .

[6]  L. Seneviratne,et al.  Unified Inverse Dynamics of Variable Topologies of a Metamorphic Parallel Mechanism Using Screw Theory , 2013 .

[7]  L. Lessard,et al.  Constraint-wrench analysis of robotic manipulators , 2013 .

[8]  L. W. Tsai,et al.  Robot Analysis: The Mechanics of Serial and Parallel Ma-nipulators , 1999 .

[9]  Jian S. Dai,et al.  Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction , 2011 .

[10]  J. Angeles,et al.  Recursive Kinematics and Inverse Dynamics for a Planar 3R Parallel Manipulator , 2005 .

[11]  Meng-Shiun Tsai,et al.  Inverse dynamics analysis for a 3-PRS parallel mechanism based on a special decomposition of the reaction forces , 2010 .

[12]  Jadran Lenarčič,et al.  Advances in Robot Kinematics , 2000 .

[13]  J. Dai,et al.  Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds , 1998 .

[14]  J. Dai,et al.  Unified Kinematics and Singularity Analysis of a Metamorphic Parallel Mechanism With Bifurcated Motion , 2013 .

[15]  Jian S. Dai,et al.  Reconfigurability and unified kinematics modeling of a 3rTPS metamorphic parallel mechanism with perpendicular constraint screws , 2013 .

[16]  C. Gosselin,et al.  Type Synthesis of Parallel Mechanisms With Multiple Operation Modes , 2007 .

[17]  Jean-Pierre Merlet,et al.  Parallel Robots , 2000 .

[18]  L. Tsai.  Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work , 2000 .

[19]  J. R. Jones,et al.  Matrix Representation of Topological Changes in Metamorphic Mechanisms , 2005 .

[20]  Jian S. Dai,et al.  Mobility Change in Two Types of Metamorphic Parallel Mechanisms , 2009 .

[21]  S. Staicu.  Recursive modelling in dynamics of Agile Wrist spherical parallel robot , 2009 .

[22]  Meng-Shiun Tsai,et al.  A novel approach for forward dynamic analysis of 3-PRS parallel manipulator with consideration of friction effect , 2014 .

[23]  Clément Gosselin.  Parallel computational algorithms for the kinematics and dynamics of parallel manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[24]  Qingsong Xu,et al.  Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism , 2005, Robotica.

[25]  S. Jack Hu,et al.  Dynamic Formulation and Performance Comparison of the 3-DOF Modules of Two Reconfigurable PKM—the Tricept and the TriVariant , 2005 .

[26]  B. Dasgupta,et al.  A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel manipulators , 1999 .