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Dynamics analysis of a 3-RRP spherical parallel manipulator using the natural orthogonal complement

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Abstract

In the present research, application of the Natural Orthogonal Complement (NOC) for the dynamic analysis of a spherical parallel manipulator, referred to as SST, is presented. Both inverse and direct dynamics are considered. The NOC and the SST fully parallel robot are explained. To drive the NOC for the SST manipulator, constraints between joint variables are written using the transformation matrices obtained from three different branches of the robot. The Newton–Euler formulation is used to model the dynamics of each individual body, including moving platform and legs of the manipulator. D’Alembert’s principle is applied and Newton–Euler dynamical equations free from non-working generalized constraint forces are obtained. Finally two examples, one for direct and one for inverse dynamics are presented. The correctness and accuracy of the obtained solution are verified by comparing with the solution of the virtual work method as well as commercial multi-body dynamics software.

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Acknowledgement

This work was supported by a grant # 13206 (on March 09, 2010), titled “Design, construction and dynamic analysis of a parallel spherical robot”, sponsored by the Ferdowsi University of Mashhad’s Research Council.

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Authors and Affiliations

  1. Center of Excellence on Soft Computing and Intelligent Information Processing (SCIIP), M.E. Department, Ferdowsi University of Mashhad, Mashhad, Iran

    Alireza Akbarzadeh & Mahdi Sharifnia

  2. M.E. Department, Islamic Azad University, Mashhad Branch, Mashhad, Iran

    Javad Enferadi

Authors
  1. Alireza Akbarzadeh
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  2. Javad Enferadi
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  3. Mahdi Sharifnia
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Correspondence to Javad Enferadi.

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Akbarzadeh, A., Enferadi, J. & Sharifnia, M. Dynamics analysis of a 3-RRP spherical parallel manipulator using the natural orthogonal complement. Multibody Syst Dyn 29, 361–380 (2013). https://doi.org/10.1007/s11044-012-9321-z

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  • DOI: https://doi.org/10.1007/s11044-012-9321-z

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