Abstract
The closed-form motion equation of the redundant actuation parallel robot with joint friction is established by an extended application of the Udwadia–Kalaba modeling. Based on the cascading nature of the Udwadia–Kalaba equation, the motion equation of the parallel robot is obtained in a hierarchical manner. The redundant actuation parallel robot is segmented into several leg subsystems, which are connected by the kinematic constraints. The constraint forces between the subsystems can be calculated by the Udwadia–Kalaba equation. In virtue of the derived constraint forces, the explicit joints friction models, described by Coulomb friction and Stribeck friction, are formulated separately. There are no auxiliary variables (such as Lagrange multipliers or pseudo-generalized speeds) needed in the method. The established dynamic modeling technique evades the curse of dimensionality when dealing with Moore–Penrose inverse. A 2-DOF redundant actuation parallel robot is chosen to demonstrate the method.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
