Details
| Original language | English |
|---|---|
| Pages (from-to) | 277-295 |
| Number of pages | 19 |
| Journal | Mechanism and machine theory |
| Volume | 52 |
| Publication status | Published - Jun 2012 |
Abstract
This paper addresses both modeling and dynamics identification of kinematically redundant parallel robots. Based on the Lagrangian equations of the first kind and using the coordinate partitioning method the dynamic equations of the regarded mechanism are derived analytically in a reduced symbolic form. The set of minimal dynamic parameters is automatically obtained thanks to the Lagrange function and the virtual work. The direct pattern search technique is applied to calculate optimal excitation trajectories to obtain reliable dynamic parameters. The direct pattern search technique is further used to identify the dynamic parameters. The proposed algorithms can be applied on both serial and parallel mechanisms in order to solve the parameter identification problem. Exemplarily, the redundant 3-(P)RRR mechanism of the Institute of Mechatronic Systems is introduced and described in detail. In order to achieve kinematic redundancy, a prismatic actuator is added to the structure allowing one base joint to move linearly. As a result, the mechanism can be able to reconfigure its geometry according to different optimization criteria and strategies. Several experimental results demonstrate the effectiveness and, therefore, the capability of the introduced identification procedure.
Keywords
- Dynamics identification, Dynamics modeling, Kinematic redundancy, Minimal dynamic parameters, Optimal excitation trajectories, Parallel robots
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. 52, 06.2012, p. 277-295.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Dynamics identification of kinematically redundant parallel robots using the direct search method
AU - Thanh, Trung Do
AU - Kotlarski, Jens
AU - Heimann, Bodo
AU - Ortmaier, Tobias
N1 - Funding information: The authors would like to thank the German Research Foundation ( DFG-OR 192/2-1 ) for the financial support of the presented work. Furthermore, the first author would like to thank the 322-Program of the Vietnam government and the German Academic Exchange Service (DAAD) for their support.
PY - 2012/6
Y1 - 2012/6
N2 - This paper addresses both modeling and dynamics identification of kinematically redundant parallel robots. Based on the Lagrangian equations of the first kind and using the coordinate partitioning method the dynamic equations of the regarded mechanism are derived analytically in a reduced symbolic form. The set of minimal dynamic parameters is automatically obtained thanks to the Lagrange function and the virtual work. The direct pattern search technique is applied to calculate optimal excitation trajectories to obtain reliable dynamic parameters. The direct pattern search technique is further used to identify the dynamic parameters. The proposed algorithms can be applied on both serial and parallel mechanisms in order to solve the parameter identification problem. Exemplarily, the redundant 3-(P)RRR mechanism of the Institute of Mechatronic Systems is introduced and described in detail. In order to achieve kinematic redundancy, a prismatic actuator is added to the structure allowing one base joint to move linearly. As a result, the mechanism can be able to reconfigure its geometry according to different optimization criteria and strategies. Several experimental results demonstrate the effectiveness and, therefore, the capability of the introduced identification procedure.
AB - This paper addresses both modeling and dynamics identification of kinematically redundant parallel robots. Based on the Lagrangian equations of the first kind and using the coordinate partitioning method the dynamic equations of the regarded mechanism are derived analytically in a reduced symbolic form. The set of minimal dynamic parameters is automatically obtained thanks to the Lagrange function and the virtual work. The direct pattern search technique is applied to calculate optimal excitation trajectories to obtain reliable dynamic parameters. The direct pattern search technique is further used to identify the dynamic parameters. The proposed algorithms can be applied on both serial and parallel mechanisms in order to solve the parameter identification problem. Exemplarily, the redundant 3-(P)RRR mechanism of the Institute of Mechatronic Systems is introduced and described in detail. In order to achieve kinematic redundancy, a prismatic actuator is added to the structure allowing one base joint to move linearly. As a result, the mechanism can be able to reconfigure its geometry according to different optimization criteria and strategies. Several experimental results demonstrate the effectiveness and, therefore, the capability of the introduced identification procedure.
KW - Dynamics identification
KW - Dynamics modeling
KW - Kinematic redundancy
KW - Minimal dynamic parameters
KW - Optimal excitation trajectories
KW - Parallel robots
UR - http://www.scopus.com/inward/record.url?scp=84859571974&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2012.02.002
DO - 10.1016/j.mechmachtheory.2012.02.002
M3 - Article
AN - SCOPUS:84859571974
VL - 52
SP - 277
EP - 295
JO - Mechanism and machine theory
JF - Mechanism and machine theory
SN - 0094-114X
ER -