Explicit Dynamic Modeling of a 3SPS+1PS Parallel Manipulator with Joint Friction

doi:10.3901/JME.2017.01.028

Abstract

SHAN Xianlei, CHENG Gang. Explicit Dynamic Modeling of a 3SPS+1PS Parallel Manipulator with Joint Friction[J]. Journal of Mechanical Engineering, 2017, 53(1): 28-35.

References

[1] FU Jianxun，GAO Feng. Optimal design of a 3-Leg 6-DOF parallel manipulator for a specific workspace[J]. Chinese Journal of Mechanical Engineering，2016，29(4)：1-10.

[2] WANG Songtao，CHENG Gang，YANG Dehua，et al. Unified kinematics analysis and low-velocity driving optimization for parallel hip joint manipulator[J]. ASME Journal of Mechanical Design，2015，137(8)：082301.

[3] STAICU S. Dynamics of the 6-6 Stewart parallel manipulator[J]. Robotics and Computer-Integrated Manufacturing，2011，27(1)：212-220.

[4] SHAO Zhufeng，TANG Xiaoqiang，WANG Liping，et al. Atlas based kinematic optimum design of the Stewart parallel manipulator[J]. Chinese Journal of Mechanical Engineering，2015，28(1)：20-28.

[5] LONG P，KHALIL W，MARTINET P. Dynamic modeling of parallel robots with flexible platforms[J]. Mechanism & Machine Theory，2014，81(11)：21-35.

[6] KALANI H，REZAEI A，AKBARZADEH A. Improved general solution for the dynamic modeling of Gough-Stewart platform based on principle of virtual work[J]. Nonlinear Dynamics，2016，83(4)：2393-2418.

[7] 王庚祥，刘宏昭. 考虑球面副间隙的4-SPS/CU并联机构动力学分析[J]. 机械工程学报，2015，51(1)：43-51.

WANG Gengxiang，LIU Hongzhao. Dynamics analysis of 4-SPS/CU parallel mechanism with spherical joint clearance[J]. Journal of Mechanical Engineering，2015，51(1)：43-51.

[8] ZHANG Xuchong，ZHANG Xianmin，CHEN Zhong. Dynamic analysis of a 3-RRR parallel mechanism with multiple clearance joints[J]. Mechanism and Machine Theory，2014，78：105-115.

[9] KANG B S，MILLS J K. Dynamic modeling of structurally flexible planar parallel manipulator[J]. Robotica，2002，20(3)：329-339.

[10] LOU Yunjiang，LI Zhibin，ZHONG Yingying，et al. Dynamics and contouring control of a 3-DOF parallel kinematics machine[J]. Mechatronics，2011，21(1)：215-226.

[11] 贾凯凯，梅江平，刘松涛，等. 4自由度并联机构刚体动力学模型[J]. 机械工程学报，2016，52(13)：10-16.

JIA Kaikai，MEI Jiangping，LIU Songtao，et al. Rigid-body dynamic model of a four-DOF parallel mechanism[J]. Journal of Mechanical Engineering，2016，52(13)：10-16.

[12] YANG Jianfeng，XU Zhenbang，WU Qingwen，et al. Dynamic modeling and control of a 6-DOF micro-vibration simulator[J]. Mechanism and Machine Theory，2016，104：350-369.

[13] CHENG Gang，SHAN Xianlei. Dynamics analysis of a parallel hip joint simulator with four degree of freedoms (3R1T)[J]. Nonlinear Dynamics，2012，70(4)：2475-2486.

[14] KHALIL W，GUEGAN S. Inverse and direct dynamic modeling of Gough-Stewart robots[J]. IEEE Transactions on Robotics，2004，20(4)：754-761.

[15] REZA O，MOHAMMAD M A，HAMID D T. Explicit dynamics formulation of Stewart–Gough platform：A Newton-Euler approach[C]// The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems，October 18-22，2010，Taipei，Taiwan，China. New York：IEEE，2010：2772-2777.

[16] The International Organization for Standardization. ISO 14242-1：2002(E) Implants for surgery-wear of total hip-joint prostheses-part 1：Loading and displacement parameters for wear-testing machines and corresponding environmental conditions for test[S]. Switzerland：The International Organization for Standardization，2002.