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

Sajeeva Niranta Yapa Abeywardena; Chao Chen

doi:10.1007/s11044-016-9506-y

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

Sajeeva Niranta Yapa Abeywardena, Chao Chen

Mechanical & Aerospace Engineering

Research output: Contribution to journal › Article › Research › peer-review

20 Citations (Scopus)

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 language	English
Pages (from-to)	1-24
Number of pages	24
Journal	Multibody System Dynamics
Volume	41
Issue number	1
DOIs	https://doi.org/10.1007/s11044-016-9506-y
Publication status	Published - Sept 2017

Keywords

Parallel mechanisms
Inverse dynamics
Base inertial parameters

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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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KW - Parallel mechanisms

KW - Inverse dynamics

KW - Base inertial parameters

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

Abstract

Keywords

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