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Analytical analysis of the dynamic of a spherical parallel manipulator

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Abstract

This paper deals with the development of an analytical model to solve the dynamic problem of a 3-RRR spherical parallel manipulator (SPM). This robot is made of three legs with three revolute joints each, which makes the dynamic behavior very complicated. In order to formulate the dynamic model, an improved method is then developed, which leads to reduce the computational time by eliminating the redundancy of the equations. By decomposing the mechanism into its simplest parts, a new basis is obtained. Using this elementary basis, the kinematic model and the forces applied to each element are easily implemented. This description leads to project all forces and torques into their motion direction to deduce the equations of motion. A good agreement between the obtained results and the multi-body software simulation is found. Moreover, the developed model is compared to other methods in order to show the advantages of this method. Then, this approach is used to analyze the effect of external forces and torques applied on the moving platform.

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Authors and Affiliations

  1. Mechanical laboratory of Sousse, National Engineering School of Sousse, University of Sousse, BP 264 Erriadh, 4023, Sousse, Tunisia

    H. Elgolli, A. Houidi, A. Mlika & L. Romdhane

  2. Higher Institute of Applied Sciences and Technology of Sousse, University of Sousse, Sousse, Tunisia

    A. Houidi

  3. Mechanical Engineering Department, American University of Sharjah, PO Box 26666, Sharjah, United Arab Emirates

    L. Romdhane

Authors
  1. H. Elgolli
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  2. A. Houidi
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  3. A. Mlika
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  4. L. Romdhane
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Correspondence to H. Elgolli.

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Elgolli, H., Houidi, A., Mlika, A. et al. Analytical analysis of the dynamic of a spherical parallel manipulator. Int J Adv Manuf Technol 101, 859–871 (2019). https://doi.org/10.1007/s00170-018-2939-0

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  • DOI: https://doi.org/10.1007/s00170-018-2939-0

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