Abstract
This paper presents a novel method of dynamic modeling and design optimization integrated with dynamics for parallel robot manipulators. Firstly, a computationally efficient modeling method, the discrete time transfer matrix method (DT-TMM), is proposed to establish the dynamic model of a 3-PRR planar parallel manipulator (PPM) for the first time. The numerical simulations are performed with both the proposed DT-TMM dynamic modeling and the ADAMS modeling. The applicability and effectiveness of DT-TMM in parallel manipulators are verified by comparing the numerical results. Secondly, the design parameters of the 3-PRR parallel manipulator are optimized using the kinematic performance indices, such as global workspace conditioning index (GWCI), global condition index (GCI), and global gradient index (GGI). Finally, a dynamic performance index, namely, driving force index (DFI), is proposed based on the established dynamic model. The described motion trajectory of the moving platform is placed into the optimized workspace and the initial position is determined to finalize the end-effector trajectory of the parallel manipulator by the further optimization with the integrated kinematic and dynamic performance indices. The novelty of this work includes (1) developing a new dynamic model method with high computation efficiency for parallel robot manipulators using DT-TMM and (2) proposing a new dynamic performance index and integrating the dynamic index into the motion and design optimization of parallel robot manipulators.
Highlights
Parallel manipulators with closed-loop mechanical architectures have advantages over serial-link manipulators with open-loop mechanical architectures, such as high precision, large load capacity, fast speed, and high acceleration.erefore, various types of parallel manipulators have been developed to substitute the serial ones for the precise manipulations at high speed and acceleration
Parallel manipulators have disadvantages compared with serial manipulators. e first primary disadvantage is that parallel manipulators have very complex kinematic equations, which makes dynamic modeling become much more challenging [5]
We assume that the given dimensions of the mechanical structure are the side length of the static platform, the position and the orientation angle of the linear guideway. e parameters to be optimized are the length of the link L2, the size of the moving platform L3, and the orientation φp of the moving platform. erefore, this paper mainly studies the influence of variables L2, L3, and φp on the kinematic performance of the 3-PRR PPM mechanism, and the design variables are chosen as
Summary
Parallel manipulators with closed-loop mechanical architectures have advantages over serial-link manipulators with open-loop mechanical architectures, such as high precision, large load capacity, fast speed, and high acceleration. One major contribution of this work is to extend the research efforts in the DT-TMM to the dynamic modeling of the 3-PRR planar parallel manipulator and verify its applicability. E proposed methodology in this work can be further extended to the dynamic modeling of other types of planar parallel manipulators and pave the way for the dynamic design and optimization of the mechanical structure. To optimize the dynamic design of the planar parallel robot, the maximum driving force is proposed and defined as a dynamic index in this work. E twofold contribution of this work is (1) developing a computationally efficient dynamic modeling method for a parallel manipulator by employing DT-TMM and (2) proposing a new dynamic performance index to conduct the dynamic design and motion optimization of parallel robot manipulators with the developed dynamic modeling method. The developed dynamic modeling method and optimization strategies are demonstrated with the 3-PRR parallel robot manipulator in this work, it is feasible to extend the developed method and strategies to other types of parallel robot manipulators
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