Kinematics and dynamics of a parallel manipulator with a new architecture

In this paper, the kinematics and dynamics of a parallel manipulator with a new architecture supposed to be used as a moving mechanism in a flight simulator project is studied. This manipulator with three independent degrees of freedom consists of a moving platform connected to a based platform by means of three legs. Kinematic solutions for this manipulator at position, velocity and acceleration levels are obtained. Moreover, the dynamical equations of motion of the manipulator are determined using Newton-Euler's equations and applying the natural orthogonal complement (NOC) method. Using kinematics and dynamics and also performing simulation for different manoeuvres of moving platform, the motion and the actuator forces of the legs are obtained.

[1]  Frank L. Lewis,et al.  Dynamic analysis and control of a stewart platform manipulator , 1993, J. Field Robotics.

[2]  Robert G. Fenton,et al.  A complete and general solution to the forward kinematics problem of platform-type robotic manipulators , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

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

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

[5]  J. Angeles,et al.  The Formulation of Dynamical Equations of Holonomic Mechanical Systems Using a Natural Orthogonal Complement , 1988 .

[6]  Jean-Pierre Merlet,et al.  Direct Kinematics and Assembly Modes of Parallel Manipulators , 1992 .

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

[8]  Joseph Duffy,et al.  A Direct Determination of the Instantaneous Kinematics of Fully Parallel Robot Manipulators , 1985 .

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

[10]  Jorge Angeles,et al.  Rational kinematics , 1989 .

[11]  D. Stewart.  A Platform with Six Degrees of Freedom , 1965 .

[12]  Jorge Angeles,et al.  Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs , 1997, Robotica.

[13]  Mohsen Shahinpoor,et al.  Inverse dynamics of a parallel manipulator , 1994, J. Field Robotics.

[14]  Mohsen Shahinpoor,et al.  Analysis of static equilibrium of a parallel manipulator , 1993, Robotica.

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