Abstract
The performance of robotic systems with parallel kinematics can be evaluated by their kinematic, static, and dynamic properties. These properties are directly used in model-based controllers which potentially offer higher accuracy for robotic systems. Inverse dynamic solution is an essential part of these controllers. In the present work, the inverse dynamics model of a 3-PRR (prismatic—revolute—revolute) planar parallel manipulator based on the natural orthogonal complement (NOC) method is developed. To drive the NOC for the 3-PRR closed-loop systems, the explicit expressions of the loop constraints equations and the associated Jacobian matrices are first obtained. Next the NOC matrix, which is a velocity transformation matrix relating the Cartesian angular/translational velocities of various bodies to the motor joint rates, is calculated. Finally results of the NOC method are compared with simulation of a 3-PRR planar parallel manipulator using two commercial softwares: SimMechanics toolbox of Matlab and COSMOSMotion of SolidWorks. In order to verify the theoretical results, two different configurations for the robot are considered: a horizontal and a vertical. Results of the NOC method as well as the two simulations are compared for the two robot configurations.
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Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
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