A novel Udwadia-Kalaba approach for parallel manipulator dynamics analysis is presented. The approach segments a parallel manipulator system into several leg-subsystems and the platform subsystem, which are connected by kinematic constraints. The Udwadia-Kalaba equation is then used to calculate the constraint forces due to the constraints. Based on this, the equation of motion, which is an explicit (i.e., closed) form, can be formulated. The method allows a systematic procedure to generate the dynamic model for both direct dynamics and inverse dynamics without invoking additional variables (such as multipliers or quasi-variables), nor does it require projection. A classical parallel Stewart-Gough platform is chosen to demonstrate the feasibility and advantages of this approach.
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Design and Manufacturing for Vehicle Body,
Hunan University,
e-mail: huangjin0107@gmail.com
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November 2013
Research-Article
Udwadia-Kalaba Approach for Parallel Manipulator Dynamics
Jin Huang,
Design and Manufacturing for Vehicle Body,
Hunan University,
e-mail: huangjin0107@gmail.com
Jin Huang
1
The State Key Laboratory of Advanced
Design and Manufacturing for Vehicle Body,
Hunan University,
Changsha, Hunan 410082
, China
e-mail: huangjin0107@gmail.com
1Present address: George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332.
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Y. H. Chen,
Y. H. Chen
2
Professor
of Mechanical Engineering,
Georgia Institute of Technology,
e-mail: yehwa.chen@me.gatech.edu
The George W. Woodruff School
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332
e-mail: yehwa.chen@me.gatech.edu
2Corresponding author.
Search for other works by this author on:
Zhihua Zhong
Zhihua Zhong
Professor
Design and Manufacturing for Vehicle Body,
College of Mechanical and Vehicle Engineering,
Hunan University,
The State Key Laboratory of Advanced
Design and Manufacturing for Vehicle Body,
College of Mechanical and Vehicle Engineering,
Hunan University,
Changsha, Hunan 410082
, China
Search for other works by this author on:
Jin Huang
The State Key Laboratory of Advanced
Design and Manufacturing for Vehicle Body,
Hunan University,
Changsha, Hunan 410082
, China
e-mail: huangjin0107@gmail.com
Y. H. Chen
Professor
of Mechanical Engineering,
Georgia Institute of Technology,
e-mail: yehwa.chen@me.gatech.edu
The George W. Woodruff School
of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332
e-mail: yehwa.chen@me.gatech.edu
Zhihua Zhong
Professor
Design and Manufacturing for Vehicle Body,
College of Mechanical and Vehicle Engineering,
Hunan University,
The State Key Laboratory of Advanced
Design and Manufacturing for Vehicle Body,
College of Mechanical and Vehicle Engineering,
Hunan University,
Changsha, Hunan 410082
, China
1Present address: George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332.
2Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received March 8, 2011; final manuscript received March 2, 2013; published online August 23, 2013. Assoc. Editor: Eugenio Schuster.
J. Dyn. Sys., Meas., Control. Nov 2013, 135(6): 061003 (11 pages)
Published Online: August 23, 2013
Article history
Received:
March 8, 2011
Revision Received:
March 2, 2013
Citation
Huang, J., Chen, Y. H., and Zhong, Z. (August 23, 2013). "Udwadia-Kalaba Approach for Parallel Manipulator Dynamics." ASME. J. Dyn. Sys., Meas., Control. November 2013; 135(6): 061003. https://doi.org/10.1115/1.4024600
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