Kinematic and dynamic analysis of a double parallel manipulator for enlarging workspace and avoiding singularities

1999 ◽  
Vol 15 (6) ◽  
pp. 1024-1034 ◽  
Author(s):  
Min Ki Lee ◽  
Kun Woo Park
Keyword(s):  
Dynamic Analysis ◽  
Parallel Manipulator

Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator

2014 ◽  
pp. 545-553 ◽  
Author(s):  
Samah Shayya ◽  
Sébastien Krut ◽  
Olivier Company ◽  
Cédric Baradat ◽  
François Pierrot
Keyword(s):  
Dynamic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
4 Degrees Of Freedom

Non-smooth dynamical analysis and experimental validation of the cable-suspended parallel manipulator

2012 ◽  
Vol 226 (10) ◽  
pp. 2456-2466 ◽  
Author(s):  
Xing-Guo Shao ◽  
Zhen-Cai Zhu ◽  
Qing-Guo Wang ◽  
Peter CY Chen ◽  
Bin Zi ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Parallel Manipulator ◽  
Inequality Constraints ◽  
Parallel Robot ◽  
Differential Algebraic Equations ◽  
Dynamical Analysis ◽  
Algebraic Equations ◽  
Dynamics Model ◽  
Midpoint Method ◽  
Smooth Dynamics

The cable-suspended parallel manipulator replaces the rigid links of traditional parallel robot. The unilateral property of the cable complicates the dynamic analysis of such manipulator and further induces difficulty in control problem. The set-valued tension law is proposed to model the unilateral constraint of the cable, and the dynamics of cable-suspended parallel manipulator is analyzed in the framework of non-smooth dynamics. The resulting non-smooth dynamics model consists of a set of differential–algebraic equations with inequality constraints. Its solution is found by the Moreau midpoint method. An experimental setup was established to verify and validate the effectiveness and accuracy of non-smooth dynamics. And the simulation results generally agree with the experimental results, which demonstrate that the non-smooth dynamics is effective and reasonable for the dynamic analysis of the cable-suspended parallel manipulator. The results of this article deeply reveal the dynamics of the cable-suspended parallel manipulator, and may be used to design more accurate controller for its trajectory control.

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