Details
| Original language | English |
|---|---|
| Pages (from-to) | 192-207 |
| Number of pages | 16 |
| Journal | Mechanism and machine theory |
| Volume | 44 |
| Issue number | 1 |
| Publication status | Published - Jan 2009 |
Abstract
This paper readdress the issue of deriving explicit equations of motion for parallel robots by using the Lagrangian formalism. Reputed of being inefficient for closed-loop mechanisms, the formalism became unpopular for parallel robots. This paper argue the converse by giving an alternative, though intuitive and simple approach. The idea is to consider open-loop subchains of the manipulator and to derive their dynamics by the Lagrangian formalism and with respect to an own set of generalized coordinates and velocities. The paper discusses and proves the importance of the formal choice of these coordinates. The principle of energy equivalence is derived to allow for joining the different equations of motion. To obtain the final form with respect to the robot's active coordinates, attention has to be paid to the transformation of the subchains dynamics, which is introduced in this paper. Finally, a systematic study of the resulting computational effort is presented and discussed in relation to other methods and approaches given in the literature.
Keywords
- Energy equivalence, Hamel-Boltzmann equations, Inverse dynamics, Lagrange formalism, Parallel manipulators
ASJC Scopus subject areas
- Chemical Engineering(all)
- Bioengineering
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Science Applications
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In: Mechanism and machine theory, Vol. 44, No. 1, 01.2009, p. 192-207.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism
AU - Abdellatif, Houssem
AU - Heimann, Bodo
PY - 2009/1
Y1 - 2009/1
N2 - This paper readdress the issue of deriving explicit equations of motion for parallel robots by using the Lagrangian formalism. Reputed of being inefficient for closed-loop mechanisms, the formalism became unpopular for parallel robots. This paper argue the converse by giving an alternative, though intuitive and simple approach. The idea is to consider open-loop subchains of the manipulator and to derive their dynamics by the Lagrangian formalism and with respect to an own set of generalized coordinates and velocities. The paper discusses and proves the importance of the formal choice of these coordinates. The principle of energy equivalence is derived to allow for joining the different equations of motion. To obtain the final form with respect to the robot's active coordinates, attention has to be paid to the transformation of the subchains dynamics, which is introduced in this paper. Finally, a systematic study of the resulting computational effort is presented and discussed in relation to other methods and approaches given in the literature.
AB - This paper readdress the issue of deriving explicit equations of motion for parallel robots by using the Lagrangian formalism. Reputed of being inefficient for closed-loop mechanisms, the formalism became unpopular for parallel robots. This paper argue the converse by giving an alternative, though intuitive and simple approach. The idea is to consider open-loop subchains of the manipulator and to derive their dynamics by the Lagrangian formalism and with respect to an own set of generalized coordinates and velocities. The paper discusses and proves the importance of the formal choice of these coordinates. The principle of energy equivalence is derived to allow for joining the different equations of motion. To obtain the final form with respect to the robot's active coordinates, attention has to be paid to the transformation of the subchains dynamics, which is introduced in this paper. Finally, a systematic study of the resulting computational effort is presented and discussed in relation to other methods and approaches given in the literature.
KW - Energy equivalence
KW - Hamel-Boltzmann equations
KW - Inverse dynamics
KW - Lagrange formalism
KW - Parallel manipulators
UR - http://www.scopus.com/inward/record.url?scp=54249147025&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2008.02.003
DO - 10.1016/j.mechmachtheory.2008.02.003
M3 - Article
AN - SCOPUS:54249147025
VL - 44
SP - 192
EP - 207
JO - Mechanism and machine theory
JF - Mechanism and machine theory
SN - 0094-114X
IS - 1
ER -