Dynamic analysis of a 6 DOF CKCM robot end-effector for dual-arm telerobot systems

In this paper, we present the dynamical analysis of a six-degree-of-freedom robot end-effector built to study telerobotic service and maintenance of NASA hardwares in space. The design of the end-effector is based on the concept of closedkinematic chain mechanism capable of performing precise motion in a small workspace. After presenting a closed-form solution for the inverse kinematic problem, we employ the Lagrangian approach to derive a set of equations of motion for the end-effector where the generalized coordinates are selected to be the Cartesian coordinates. Computer simulation study shows that the centrifugal and Coriolis terms can be neglected for slow motion. Effects of system parameters on the end-effector dynamics are also studied using computer simulation.

[1]  E F Fichter,et al.  A Stewart Platform- Based Manipulator: General Theory and Practical Construction , 1986 .

[2]  Charles C. Nguyen,et al.  Modified hybrid control of robot manipulators for high precision assembly operations , 1988 .

[3]  D. C. H. Yang,et al.  Feasibility Study of a Platform Type of Robotic Manipulators from a Kinematic Viewpoint , 1984 .

[4]  D. Stewart,et al.  A Platform with Six Degrees of Freedom , 1965 .

[5]  T. Premack,et al.  Trajectory control of robot manipulators with closed-kinematic chain mechanism , 1988, [1988] Proceedings. The Twentieth Southeastern Symposium on System Theory.

[6]  C. S. G. Lee,et al.  Robotics: Control, Sensing, Vision, and Intelligence , 1987 .

[7]  J. Dieudonne.  An actuator extension transformation for a motion simulator and an inverse transformation applying Newton-Raphson's method , 1972 .

[8]  Charles C. Nguyen,et al.  Kinematic analysis and workspace determination of a 6 dof ckcm robot end-effector , 1989 .

[9]  Koichi Sugimoto,et al.  Kinematic and Dynamic Analysis of Parallel Manipulators by Means of Motor Algebra , 1987 .

[10]  K. Sugimoto,et al.  Application of linear algebra to screw systems , 1982 .

[11]  K. H. Hunt,et al.  Structural Kinematics of In-Parallel-Actuated Robot-Arms , 1983 .

[12]  L. R. Purves,et al.  Design and implementation of a compliant robot with force feedback and strategy planning software , 1984 .

[13]  Jean-Jacques E. Slotine,et al.  Robot analysis and control , 1988, Autom..

[14]  Kok-Meng Lee,et al.  Dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator , 1988, IEEE J. Robotics Autom..

[15]  K. H. Hunt,et al.  Kinematic geometry of mechanisms , 1978 .

[16]  Charles C. Nguyen,et al.  Joint-space adaptive control of robot end-effectors performing slow and precise motions , 1989, [1989] Proceedings. The Twenty-First Southeastern Symposium on System Theory.