Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism

Sajeeva Niranta Yapa Abeywardena, Chao Chen

Research output: Contribution to journalArticleResearchpeer-review

Abstract

The Monash Epicyclic Parallel Manipulator (MEPaM) is a novel six-degree-of-freedom (dof) parallel mechanism with base mounted actuators. Closed form equations of the inverse dynamic model of MEPaM are obtained through two different methods, with simulation showing these models to be equivalent. The base inertial parameters for the dynamic model of MEPaM are determined, reducing the number of inertial parameters from 100 to 28. This significantly simplifies the dynamic calibration model and thus the number of computations required.
Original languageEnglish
Pages (from-to)1-24
Number of pages24
JournalMultibody System Dynamics
Volume41
Issue number1
DOIs
Publication statusPublished - Sep 2017

Keywords

  • Parallel mechanisms
  • Inverse dynamics
  • Base inertial parameters

Cite this

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abstract = "The Monash Epicyclic Parallel Manipulator (MEPaM) is a novel six-degree-of-freedom (dof) parallel mechanism with base mounted actuators. Closed form equations of the inverse dynamic model of MEPaM are obtained through two different methods, with simulation showing these models to be equivalent. The base inertial parameters for the dynamic model of MEPaM are determined, reducing the number of inertial parameters from 100 to 28. This significantly simplifies the dynamic calibration model and thus the number of computations required.",
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Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism. / Abeywardena, Sajeeva Niranta Yapa; Chen, Chao.

In: Multibody System Dynamics, Vol. 41, No. 1, 09.2017, p. 1-24.

Research output: Contribution to journalArticleResearchpeer-review

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AB - The Monash Epicyclic Parallel Manipulator (MEPaM) is a novel six-degree-of-freedom (dof) parallel mechanism with base mounted actuators. Closed form equations of the inverse dynamic model of MEPaM are obtained through two different methods, with simulation showing these models to be equivalent. The base inertial parameters for the dynamic model of MEPaM are determined, reducing the number of inertial parameters from 100 to 28. This significantly simplifies the dynamic calibration model and thus the number of computations required.

KW - Parallel mechanisms

KW - Inverse dynamics

KW - Base inertial parameters

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