Improved inverse kinematics and dynamics model research of general parallel mechanisms

• Published in: Journal of mechanical science and technology Vol. 37; no. 2; pp. 943 - 954
• Main Authors: Zhang, Xingchao, Wang, Hongbo, Rong, Yu, Niu, Jianye, Tian, Junjie, Li, Shanshan, Ning, Yuansheng
• Format: Journal Article
• Language: English
• Published: Seoul Korean Society of Mechanical Engineers 01.02.2023; Springer Nature B.V; 대한기계학회
• Subjects: Angular acceleration; Angular velocity; Control; Dynamic models; Dynamical Systems; Engineering; Industrial and Production Engineering; Inverse kinematics; Kinematics; Manipulators; Mechanical Engineering; Original Article; Principles; Vibration; 기계공학; Principle of virtual work; Kinematics model; Parallel manipulator; Inverse dynamics
• ISSN: 1738-494X; 1976-3824
• DOI: 10.1007/s12206-023-0134-1

Since the classical kinematics model of parallel manipulators cannot accurately reflect the angular velocity and angular acceleration of the limbs, an improved kinematics model is proposed and an inverse dynamic model of the general parallel manipulator is derived based on the improved kinematics model. This paper proves that the shortcoming of the classical kinematics model is that a single model cannot accurately describe the movement of several types of branches in a parallel manipulator. Combined with the principle of angular velocity superposition and vector chain method, the improved kinematic models of the general parallel manipulator’s several typical limbs are derived. Then, an explicit inverse dynamic model of a general parallel robot is established based on the principle of virtual work. Finally, to describe the effectiveness of the improved model, we analyzed a new type of UP+SPR+SPU parallel manipulator. The improved models had higher accuracy than the classical models through the comparison.