Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs

Lü, Yi; Dai, Zhuohong

doi:10.1016/j.mechmachtheory.2016.05.003

Cited by 27 publications

(9 citation statements)

References 18 publications

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“…j of the general serial-parallel manipulator are derived in ref. [8] and represented based on Eqs. (1), (2), and (9) as follows:…”

Section: Kinematics Of General Serial-parallel Manipulatormentioning

confidence: 99%

“…The formulae for solving the translational acceleration a 2 and the angular acceleration ε 2 of m 2 at o 2 in {b 1 } are derived in ref. [8] as follows:…”

Section: Kinematics Of General Serial-parallel Manipulatormentioning

confidence: 99%

“…The formulae for solving ( bj ω ri , bj ε ri , ω ri , ε ri ) j in the PM j are derived in ref. [8] and represented based on Eqs. 1and 2as follows:…”

Section: Velocity and Acceleration Of Linear Limbs R Ij In The Jth Pmmentioning

confidence: 99%

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Precise Stiffness and Elastic Deformations of Serial–Parallel Manipulators by Considering Inertial Wrench of Moving Links

Lü

Dai

2020

Robotica

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SUMMARY A general serial–parallel manipulator connected in series by two different parallel manipulators with linear active legs is constructed. Its precise stiffness and elastic deformations are studied systematically. Its unified precise stiffness and precise elastic deformation models are established by considering both the moving links inertial wrench and the dynamic active/constrained wrench. A 3SPR+3RPS-type serial–parallel manipulator is illustrated for solving its precise stiffness and precise elastic deformation. The derived formulae of the precise stiffness and the precise elastic deformations of the general serial–parallel manipulator are verified by the theoretical solutions of the 3SPR+3RPS serial–parallel manipulator.

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“…j of the general serial-parallel manipulator are derived in ref. [8] and represented based on Eqs. (1), (2), and (9) as follows:…”

Section: Kinematics Of General Serial-parallel Manipulatormentioning

confidence: 99%

“…The formulae for solving the translational acceleration a 2 and the angular acceleration ε 2 of m 2 at o 2 in {b 1 } are derived in ref. [8] as follows:…”

Section: Kinematics Of General Serial-parallel Manipulatormentioning

confidence: 99%

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Precise Stiffness and Elastic Deformations of Serial–Parallel Manipulators by Considering Inertial Wrench of Moving Links

Lü

Dai

2020

Robotica

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“…The first class (Class I) includes all the hybrid robots whose structure has several parallel modules connected in series [1][2][3][4][5][6][7][8][9][10] (Figure 1a).…”

Section: Introductionmentioning

confidence: 99%

“…The Screw theory and the Jacobian approach were applied for the kinematic modelling of a serial-parallel robot [3,4]. In particular, the dynamics and the structural stiffness models of some specific hybrid robots Class I were formulated and analysed [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of m Local Closed-Loop Linkages Appended to an n-Link Serial Manipulator

Định

et al. 2020

Applied Sciences

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Recently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynamic issues for individual hybrid robots rather than any generalization. Hence, in this paper, we present a novel method for kinematic and dynamic modelling for a class of hybrid robots. First, a generic scheme for the kinematic design of a general hybrid robot mechanism is proposed. In this manner, the kinematic equation and the constraint equations for the robot class are derived in a generalized case. Second, in order to simplify the dynamic modelling and analysis of the complex hybrid robots, a Lemma about the analytical relationship among the generalized velocities of a hybrid robot system is proven in a generalized case as well. Last, examples of the kinematic and dynamic modelling of a newly designed hybrid robot are presented to demonstrate and validate the proposed method.

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Velocity Analysis of a 5-DOF Hybrid Manipulator

Антонов¹,

Fomin²

2023

Mechanisms and Machine Science

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Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs

Cited by 27 publications

References 18 publications

Precise Stiffness and Elastic Deformations of Serial–Parallel Manipulators by Considering Inertial Wrench of Moving Links

Precise Stiffness and Elastic Deformations of Serial–Parallel Manipulators by Considering Inertial Wrench of Moving Links

Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of m Local Closed-Loop Linkages Appended to an n-Link Serial Manipulator

Velocity Analysis of a 5-DOF Hybrid Manipulator

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