Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

Abstract. This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial 3-RPRS parallel manipulator. The geometry parameters of the manipulator are optimized for a given constant orientation workspace. Further, a robust task-space trajectory tracking control is also designed for the manipulator along with a nonlinear disturbance observer. To demonstrate the efficacy and show the complete performance of the proposed controller, virtual prototype experiments are executed using one of the multibody dynamics software namely MSC Adams. The computer-based virtual prototype experiment results show that the manipulator tracking performance is satisfactory with the proposed control scheme. In addition, the controller parameter sensitivity and robustness analyses are also accomplished.

[1]  Qitao Huang,et al.  PD control with gravity compensation for hydraulic 6-DOF parallel manipulator☆ , 2010 .

[2]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[3]  Charles C. Nguyen,et al.  Adaptive control of a stewart platform-based manipulator , 1993, J. Field Robotics.

[4]  Belhassen Chedli Bouzgarrou,et al.  Static and dynamic characterization of the 6-Dofs parallel robot 3CRS , 2015 .

[5]  Bodo Heimann,et al.  Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism , 2009 .

[6]  Ilian A. Bonev,et al.  ANALYSIS AND DESIGN OF 6-DOF 6-PRRS PARALLEL MANIPULATORS , 1998 .

[7]  Philippe Wenger,et al.  New Trends in Mechanism and Machine Science , 2020, Mechanisms and Machine Science.

[8]  Masaru Uchiyama,et al.  A New Design of a 6-DOF Parallel Robot , 1990, J. Robotics Mechatronics.

[9]  Dan Zhang,et al.  Parallel Robotic Machine Tools , 2009 .

[10]  Saeid Nahavandi,et al.  The Octahedral Hexarot — A novel 6-DOF parallel manipulator , 2012 .

[11]  Masaru Uchiyama,et al.  A 6 d.o.f. parallel robot HEXA , 1993, Adv. Robotics.

[12]  Hyung Suck Cho,et al.  Analysis of a Novel 6-DOF, 3-PPSP Parallel Manipulator , 1997, Int. J. Robotics Res..

[13]  Sébastien Briot,et al.  PAMINSA: A new family of partially decoupled parallel manipulators , 2009 .

[14]  Bhaskar Dasgupta,et al.  The Stewart platform manipulator: a review , 2000 .

[15]  Y. Cho,et al.  Robust nonlinear task space control for a 6 DOF parallel manipulator , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[16]  Evangelos Papadopoulos,et al.  Model-based control of a 6-dof electrohydraulic Stewart–Gough platform , 2008 .

[17]  Massimo Callegari,et al.  Dynamic modelling of a 3-CPU parallel robot via screw theory , 2013 .

[18]  Gu Hongbin,et al.  Adaptive Sliding Control of Six-DOF Flight Simulator Motion Platform , 2007 .

[19]  Joseph Duffy,et al.  A forward and reverse displacement analysis of a 6-DOF in-parallel manipulator , 1994 .

[20]  Feng Gao,et al.  Mechanism design of a simplified 6-DOF 6-RUS parallel manipulator , 2002, Robotica.

[21]  Yung Ting,et al.  Modeling and Control for a Gough-Stewart Platform CNC Machine , 2004, ICRA.

[22]  Roberto Brega,et al.  Application of a nonlinear adaptive controller to a 6 DOF parallel manipulator , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[23]  Dong Hwan Kim,et al.  Robust tracking control design for a 6 DOF parallel manipulator , 2000 .

[24]  Lung-Wen Tsai,et al.  Six-Degree-Of-Freedom Parallel Minimanipulator , 1994 .

[25]  S.-J. Ryu,et al.  Eclipse: an Overactuated Parallel Mechanism for Rapid Machining , 1999 .

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

[27]  Rob Dekkers,et al.  Control of Robot Manipulators in Joint Space , 2005 .