Dynamic analysis of Clavel's delta parallel robot (original) (raw)

Dynamic modelling of a 3-DOF parallel manipulator using recursive matrix relations

Robotica, 2006

In this paper, a simple and convenient method -Recursive Matrix method -is proposed for kinematic and dynamic analysis of all types of complex manipulators. After addressing the principle of the method, an example -a 3-DOF parallel manipulator with prismatic actuators -is demonstrated for the efficiency of the method in solving kinematic and dynamic problems of complex manipulators. With the inverse kinematic solutions, the inverse dynamic problem is solved with the virtual powers method. Matrix relations and graphs of the acting forces and powers for all actuators are analysis and determined. It is shown that the proposed method is an effective mean for kinematic and dynamic modelling of parallel mechanisms.

A Novel Inverse Kinematic Approach for Delta Parallel Robot

International Journal of Materials, Mechanics and Manufacturing, 2018

Delta robot is used in many applications in daily life, such as industrial processes or household activities. All these applications are needed point to point movements. To provide the reposition, inverse kinematic of delta robot needs to be solved in the control and design algorithm. General form of the inverse kinematic of Delta robot uses Cartesian coordinates. In this paper, a new approach for linear delta robot using cylindrical coordinates instead of Cartesian coordinates is explained. The linear delta robot has been constructed to compare our method with Cartesian approach. In order to verify the path of the end effector motion capture system is used. The acquired data has been evaluated in Matlab. Index Terms-Delta parallel robot, inverse kinematic, matlab, motion capture system. I. INTRODUCTION A delta parallel manipulator is able to generate three transitional motions in space. This manipulator was constructed by Reymond Clavel and his team in 1990 [1]. This type delta manipulator has three rotational actuators fixed on the base of the manipulator. Platform of the manipulator is moved by using three identical parallelogram limbs. Another type of delta parallel manipulator is actuated by three linear motion (prismatic joints) instead of rotational joints. The linear motion is achieved through belt drive systems or rotational motors attached to lead screws. Recently, this type of delta robot is extensively used for 3-D printers (such as Atom 2, Kossel etc), coordinate measuring machine (Renishaw equator) and pick&place (Adept Robot, ABB etc.) applications. A quite old research about Delta robot was published by Periot et al. [2]. This Delta robot had three revolute actuators which are fixed to the base platform. Inverse kinematics of Delta robot was one section of their studies. They solved inverse problem using Cartesian approach. Kinematic analysis of delta parallel manipulator was investigated by academic community in various fields such as computer, mechanical and mechatronics engineering. Inverse and forward kinematics of delta parallel manipulator driven by both prismatic and rotational actuators is represented by R.L. Williams [3]. All structural examples for delta type manipulators are illustrated in his study. Inverse kinematic Analysis of the delta robot with three revolute actuators and three prismatic actuators was investigated for design purpose in some researches [4], [5]

Inverse dynamics of the HALF parallel manipulator with revolute actuators

Nonlinear Dynamics, 2007

Recursive matrix relations for kinematics and dynamics of the HALF parallel manipulator are presented in this paper. The prototype of this robot is a spatial mechanism with revolute actuators, which has two translation degrees of freedom and one rotation degree of freedom. The parallel manipulator consists of a base plate, a movable platform and a system of three connecting legs, having wide application in the fields of industrial robots, simulators, parallel machine tools and any other manipulating devices where high mobility is required. Supposing that the position and the motion of the moving platform are known, an inverse dynamics problem is solved using the principle of virtual powers. Finally, some iterative matrix relations and graphs of the torques and powers for all actuators are analysed and determined. It is shown that this approach is an effective means for kinematics and dynamics modelling of parallel mechanisms.

Dynamic Analysis of a Delta Parallel Robot with Flexible Links and Joint Clearances

Applied Sciences

Delta robot is a lightweight parallel manipulator capable of accurately moving heavy loads at high speed and acceleration along a spatial trajectory. This intensive dynamic process may have a significant impact on the end-effector trajectory precision and motor behavior. The paper highlights the influence on the dynamic behavior of a Delta robot by considering individual and combined effects of clearances and friction in the spherical joints, as well as the flexibility of the rod elements. The CAD modeling of the Delta robot and its motion simulation on a representative spatial trajectory where the maximum allowed values of speed and acceleration are reached were performed using the Catia and Adams software packages. The obtained results show that the methods used were successfully applied and the effects are mutually interconnected, but not cumulative.

Rigid versus Flexible Link Dynamic Analysis of a 3DOF Delta Type Parallel Manipulator

Applied Mechanics and Materials, 2015

This paper presents a comparative kinematic and dynamic analysis of a Delta parallel robot based on numerical simulations of the rigid vs. flexible links robot models. The flexible links numerical models are derived using AutoFlex module of Adams software. Finally, the conclusions regarding the obtained results useful in manipulator constructive design are presented.

A new approach for the dynamic analysis of parallel manipulators

Multibody System Dynamics, 1998

A new approach for the dynamic analysis of parallel manipulators is presented in this paper. This approach is based on the principle of virtual work. The approach is firstly illustrated using a simple example, namely, a planar four-bar linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom parallel manipulator with prismatic actuators (Gough-Stewart platform) is performed. Finally, a numerical example is given in order to illustrate the results. The approach proposed here can be applied to any type of planar and spatial parallel mechanism and leads to faster computational algorithms than the classical Newton-Euler approach when applied to these mechanisms.

On the analysis of a new spatial three-degrees-of-freedom parallel manipulator

IEEE Transactions on Automation Science and Engineering, 2001

In this paper, a new spatial three-degrees-of-freedom (two degrees of translational freedom and one degree of rotational freedom) parallel manipulator is proposed. The parallel manipulator consists of a base plate, a movable platform, and three connecting legs. The inverse and forward kinematics problems are described in closed forms and the velocity equation of the new parallel manipulator is given. Three kinds of singularities are also presented. The workspace for the manipulator is analyzed systematically; in particular, indices to evaluate the mobility (in this paper, mobility means rotational capability) of the moving platform of the manipulator will be defined and discussed in detail. Finally, a topology architecture of the manipulator is introduced. The parallel manipulator has wide application in the fields of industrial robots, simulators, micromanipulators, and parallel machine tools.

Inverse dynamics of a 3PRC parallel kinematic machine

Nonlinear Dynamics

Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot’s elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve successfully the control of the motion of such robotic system.

Inverse dynamics of the 3-PRR planar parallel robot

Robotics and Autonomous Systems, 2009

Recursive modelling for the kinematics and dynamics of the known 3-PRR planar parallel robot is established in this paper. Three identical planar legs connecting to the moving platform are located in a vertical plane. Knowing the motion of the platform, we develop first the inverse kinematics and determine the positions, velocities and accelerations of the robot. Further, the principle of virtual work is used in the inverse dynamics problem. Several matrix equations offer iterative expressions and graphs for the power requirement comparison of each of three actuators in two different actuation schemes: prismatic actuators and revolute actuators. For the same evolution of the moving platform in the vertical plane, the power distribution upon the three actuators depends on the actuating configuration, but the total power absorbed by the set of three actuators is the same, at any instant, for both driving systems. The study of the dynamics of the parallel mechanisms is done mainly to solve successfully the control of the motion of such robotic systems.