Dynamics and Motion Control of a Three Degree of Freedom 3-PRRR Parallel Manipulator

Sunilkumar, P N; Choudhury, Rutupurna; Mohan, Santhakumar; Rybak, Larisa

doi:10.1007/978-3-030-55061-5_13

Cited by 8 publications

(10 citation statements)

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“…The kinematic modelling 29 and the interference-free workspace estimation 25 of the CPM were already analysed in previous works. By incorporating the changes because of the different shapes in the kinematic model, 29 the interference-free workspace of all the cases is determined. As the robot is developed for lower-limb rehabilitative system where it operates in proximity with human beings, the investigation of self-interference-free workspace is of prime importance.…”

Section: On Various End-effector Configurationsmentioning

confidence: 99%

“…The kinematic modelling 29 and link interference-free workspace analyses 25 the remaining variants 2, 3 and 4 are compared against the benchmark, while maintaining the corresponding link lengths the same as that of the benchmark. The effect of offset distance of the actuator axis on the interference-free workspace is also analysed in the following sections.…”

Section: On the Various Configurations Of The 3-prrr Cpmmentioning

confidence: 99%

“…As the kinematic and workspace analyses of variant 1 have already been found out, the workspace analyses of variants 2, 3 and 4 are determined by applying the necessary changes in the kinematic model. 29 The right-angle triangle shaped moving platform is considered for all the variants as it yielded the maximum interference-free workspace volume for the benchmark variant in the section introduction. The procedure of finding maximum and minimum limits of the workspace is exactly the same as explained in the previous section.…”

Section: On the Various Configurations Of The 3-prrr Cpmmentioning

confidence: 99%

“…This section analyses the effect of various end-effector shapes on the interference-free workspace of the 3-dof CPM. The kinematic modelling 29 and the interference-free workspace estimation 25 of the CPM were already analysed in previous works. By incorporating the changes because of the different shapes in the kinematic model, 29 the interference-free workspace of all the cases is determined.…”

Section: On Various End-effector Configurationsmentioning

confidence: 99%

“…The section that follows deal with the validation of the interference detection algorithm using a virtual prototype. The dynamic model of the CPM derived in a previous work 29 is further refined using necessary constraint equations (Lagrange multipliers) and is validated using a virtual prototype developed in the multi-body dynamics package, ADAMS. This is followed by the proposal of an improved sliding mode motion controller, whose robustness under external disturbances and parameter uncertainties are analysed.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Numerical investigations, development and control of a cartesian (3-PRRR) parallel manipulator

John

Mohan

Rybak

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper focusses on the development of a Cartesian parallel manipulator (CPM) having multiple limb assembly configurations. An optimal configuration of the 3-PRRR CPM is identified after analysing the interference-free workspace of various limb assembly conditions, where each leg comprises an active prismatic joint followed by three revolute joints. The validation of the link interference detection algorithm is carried out using a virtual prototype. The Euler–Lagrange dynamic modelling of the CPM is validated using one of the well-known multi-body simulation packages namely, ADAMS. The paper proposes a detailed design and performance analyses of a motion controller for the proposed manipulator, based on a finite-time sliding mode scheme. A Graphical User Interface (GUI) is also developed using the MATLAB App Designer, which ensures easier and intuitive synthesis of the CPM. The development of an in-house functional prototype is also presented in this work.

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Section: On Various End-effector Configurationsmentioning

confidence: 99%

Section: On the Various Configurations Of The 3-prrr Cpmmentioning

confidence: 99%

Section: On the Various Configurations Of The 3-prrr Cpmmentioning

confidence: 99%