Dynamic modeling of flexible-links planar parallel robots

Du, Zhijiang; Yu, Yueqing; Zhang, Xuping

doi:10.1007/s11465-008-0032-3

Cited by 7 publications

(6 citation statements)

References 5 publications

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“…Therefore, two DoF 5R-PPMs have been comprehensively studied in literature using analytical methods [3][4][5][6][7]. The 5R-PPM is prone to singularities, and thus, the control and trajectory planning are more involved.…”

Section: Introductionmentioning

confidence: 99%

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Optimized design of 5R planar parallel mechanism aimed at gait-cycle of quadruped robots

Kumar¹,

Ratolikar²

2021

J. vibroeng.

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In quadruped robot locomotion using parallel mechanisms, researchers have used equal link lengths as legs for walking. However, force requirements are not the same in the forward and return strokes. An unsymmetrical parallel mechanism can be considered to accommodate such requirements. This work presents optimized dimensions of a 5R planar parallel mechanism (5R-PPM) with two degrees of freedom (DoF). Optimized dimensions are determined by formulating an optimization problem using kinematics and dynamics equations for the 5R-PPM. Genetic algorithm is considered to obtain solutions for the optimization problem formulated in this study. The constraint condition expressed here for optimization will attempt to minimize the peak torque essential to displace the links in the mechanism for the given height of the robot body and the path to be traced by the end-effector. After analysing all the four possible working modes for the same end-effector movement, the best working mode is selected for the quadruped legs. The equations are formulated and solved in MATLAB, and validated in the MATLAB Simscape Multibody toolbox.

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Section: Introductionmentioning

confidence: 99%

“…Many researchers have done comprehensive research on the analysis of singularities [6,[14][15][16][17][18]. Generally, in parallel mechanisms, two singularity types are witnessed: Type-1 & Type-2 [4]. One or more DoF are compromised in Type-1 singularity.…”

Section: Introductionmentioning

confidence: 99%

Optimized design of 5R planar parallel mechanism aimed at gait-cycle of quadruped robots

Kumar¹,

Ratolikar²

2021

J. vibroeng.

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“…In case of open chain mechanism, the stiffness is low [2], precision -positioning is slightly compromised and moreover huge amount of actuator torque is wasted which decreases the dynamic performance, but, their workspace reach is high. To overcome disadvantages of serial manipulators, parallel configuration was developed [3][4][5][6][7]. Few researchers have worked on parallel mechanism [8] to increase their workspace [9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

“…There are two types of singularities which are commonly observed in parallel mechanisms; Type 1 and Type 2 [4]. In Type 1, the end-effector will lose one or several degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

Optimal 5R parallel leg design for quadruped robot gait cycle

Ratolikar¹,

Kumar²

2020

Vib. proced.

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This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found.

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“…The elastic displacements of flexible links are investigated by considering the coupling effects between links due to the structural flexibility. Hu and Zhang [20] presented a method for the dynamic modeling of parallel robots with flexible links and rigid platform. Using constraint relations, the dynamic equations of the flexible links and rigid platform were obtained.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations

Varalakshmi¹

2017

AJMIE

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This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators.

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Dynamic modeling of flexible-links planar parallel robots

Cited by 7 publications

References 5 publications

Optimized design of 5R planar parallel mechanism aimed at gait-cycle of quadruped robots

Optimized design of 5R planar parallel mechanism aimed at gait-cycle of quadruped robots

Optimal 5R parallel leg design for quadruped robot gait cycle

Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations

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