Dynamic Analysis of a Novel Spherical Parallel Manipulator on the Moving Base Using the Principle of Virtual Work

Document Type : Dynamics, Vibrations, and Control

Authors

1 Department of Mechanic, Faculty of Mechanical Engineering, Shahid Rajaee Teacher Training University, Tehran, Iran

2 Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran

Abstract

Parallel robots are of great interests to many advanced industries due to their lots of advantages. But in the spherical parallel robotic arms, addition to shortcomings of is their limited workspace, using of high power actuators made complexity their dynamics and control. Some applications of these types of robots require large work space and high load capacity on a nonstationary base and during moving. In this paper, a new spherical manipulator with 3PUS/S structure and three rotational movements are suggested and its kinematics and dynamics are studied for special applications. Unlimited rotation about Z axis and most of the load bearing by central joint, have made structure of this robot different from others kinematically and dynamically. In this study,  after extracting the kinematics relations of the mentioned arm giving analytical answers for position, velocity and acceleration, the dynamics of the robot with the base mobile platform is investigated using the principle of virtual work. For checking the accuracy of kinematic and dynamic relationships, results verified by Adams software simulation which Acceptable matching of the results confirms the accuracy of the equations. Unlimited rotation about Z axis, the fixed grooves of actuators motion and the reduction of the dynamic effect due to their mass, low effect of the dynamics of robot links, bearing the static part of the load by the central spherical joint and very noticeable reduction of the required motor power are the main advantages of the introduced mechanism and has made it very attractive for special applications.

Keywords

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References

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History

  • Receive Date: 14 March 2020
  • Revise Date: 22 June 2020
  • Accept Date: 08 August 2021
  • Publish Date: 23 July 2021

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