Staff View: A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator

A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator

This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained bas...

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Main Authors:	Jaime Gallardo-Alvarado, Mario A. García-Murillo, Md Nazrul Islam, Mohammad H. Abedinnasab
Format:	Article
Language:	English
Published:	Springer International Publishing 2016
Subjects:	TJ Mechanical engineering and machinery
Online Access:	https://eprints.ums.edu.my/id/eprint/18792/1/A%20simple%20approach%20to%20solve%20the%20kinematics%20and%20dynamics%20of%20the%204.pdf https://eprints.ums.edu.my/id/eprint/18792/ http://doi.org/10.1007/s12206-016-0439-4
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spelling	my.ums.eprints.187922018-02-18T11:56:27Z https://eprints.ums.edu.my/id/eprint/18792/ A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator Jaime Gallardo-Alvarado Mario A. García-Murillo Md Nazrul Islam Mohammad H. Abedinnasab TJ Mechanical engineering and machinery This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained based on closure equations formulated upon linear combinations of the coordinates of three non-collinear points embedded in the moving platform. Then, the input-output equations of velocity and acceleration of the robot manipulator are systematically established by resorting to the theory of screws. To this end, the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) is systematically applied to the velocity and reduced acceleration state in screw form of the moving platform cancelling the passive joint rates of the parallel manipulator. Numerical examples, which are confirmed by means of commercially available software, are provided to show the application of the method. Springer International Publishing 2016-05 Article PeerReviewed text en https://eprints.ums.edu.my/id/eprint/18792/1/A%20simple%20approach%20to%20solve%20the%20kinematics%20and%20dynamics%20of%20the%204.pdf Jaime Gallardo-Alvarado and Mario A. García-Murillo and Md Nazrul Islam and Mohammad H. Abedinnasab (2016) A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator. Journal of Mechanical Science and Technology, 30 (5). pp. 2303-2309. ISSN 1738-494X (Print) 1976-3824 (Online) http://doi.org/10.1007/s12206-016-0439-4
institution	Universiti Malaysia Sabah
building	UMS Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Malaysia Sabah
content_source	UMS Institutional Repository
url_provider	http://eprints.ums.edu.my/
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Jaime Gallardo-Alvarado Mario A. García-Murillo Md Nazrul Islam Mohammad H. Abedinnasab A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator
description	This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained based on closure equations formulated upon linear combinations of the coordinates of three non-collinear points embedded in the moving platform. Then, the input-output equations of velocity and acceleration of the robot manipulator are systematically established by resorting to the theory of screws. To this end, the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) is systematically applied to the velocity and reduced acceleration state in screw form of the moving platform cancelling the passive joint rates of the parallel manipulator. Numerical examples, which are confirmed by means of commercially available software, are provided to show the application of the method.
format	Article
author	Jaime Gallardo-Alvarado Mario A. García-Murillo Md Nazrul Islam Mohammad H. Abedinnasab
author_facet	Jaime Gallardo-Alvarado Mario A. García-Murillo Md Nazrul Islam Mohammad H. Abedinnasab
author_sort	Jaime Gallardo-Alvarado
title	A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator
title_short	A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator
title_full	A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator
title_fullStr	A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator
title_full_unstemmed	A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator
title_sort	simple approach to solve the kinematics and dynamics of the 4-ups/ps (3r1t) parallel manipulator
publisher	Springer International Publishing
publishDate	2016
url	https://eprints.ums.edu.my/id/eprint/18792/1/A%20simple%20approach%20to%20solve%20the%20kinematics%20and%20dynamics%20of%20the%204.pdf https://eprints.ums.edu.my/id/eprint/18792/ http://doi.org/10.1007/s12206-016-0439-4
_version_	1760229493825339392
score	13.211869

A simple approach to solve the kinematics and dynamics of the 4-UPS/PS (3R1T) parallel manipulator

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