3-P(RR-RRR)SR Kinematic Redundant Parallel Robot Dynamics Decomposition Modeling and Control

doi:10.3901/JME.2025.17.066

Abstract

Abstract: Compared to conventional parallel mechanisms, kinematic redundant parallel mechanisms have more degrees of freedom and rigid body counts, making their dynamic modeling more complex and challenging. Addressing the complexity and computational intensity of the overall dynamic model for the 3-P(RR-RRR)SR kinematic redundant parallel robot, a subsystem dynamic modeling strategy is proposed. Firstly, the branch Jacobian matrix for the driven joint velocity and spherical joint velocity is solved. Then, the velocities of various components within the branch are derived, and a branch subsystem dynamics model is established using Lagrange’s method. Subsequently, the velocities of the moving platform and redundant connecting rod are derived, and the Jacobian matrix between them and the generalized velocities is solved. The virtual work principle is then applied to establish a dynamic model for the moving platform subsystem. After that, a method of mapping virtual forces at the spherical joints to the joint space through the force Jacobian is used to correlate one moving platform subsystem with three branch subsystems, forming an overall dynamic model. The correctness of the model is verified using ADAMS. Finally, based on this subsystem dynamics model, a computed torque controller is designed and applied to the trajectory tracking control of a physical prototype. Compared with PD control, analysis of error data demonstrates that this controller effectively improves the accuracy and response speed of trajectory tracking. The research results provide a reference for in-depth analysis of the dynamic characteristics of the mechanism and the study of control strategies.

Key words: kinematic redundancy, parallel mechanism, subsystem dynamics modeling, Lagrangian method, virtual work principle, computed torque control

CLC Number:

TD156

ZHANG Haifeng, HE Qizhen, CHEN Qiaohong, YE Wei. 3-P(RR-RRR)SR Kinematic Redundant Parallel Robot Dynamics Decomposition Modeling and Control[J]. Journal of Mechanical Engineering, 2025, 61(17): 66-79.

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