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Dynamic modeling of structurally-flexible planar parallel manipulator

Published online by Cambridge University Press:  07 May 2002

Bongsoo Kang  and
James K. Mills
Bongsoo Kang
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario (Canada) M5S 3G8 kang@mie.utoronto.ca
James K. Mills
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario (Canada) M5S 3G8 mills@mie.utoronto.ca
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Abstract

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This paper presents a dynamic model of a planar parallel manipulator including structural flexibility of several linkages. The equations of motion are formulated using the Lagrangian equations of the first type and Lagrangian multipliers are introduced to represent the geometry of multiple closed loop chains. Then, an active damping approach using a PZT actuator is described to attenuate structural vibration of the linkages. Overall dynamic behavior of the manipulator, induced from structural flexibility of the linkage, is well illustrated through simulations. This analysis will be used to develop a prototype parallel manipulator.

Keywords

Planar parallel manipulatorStructural flexibilityActive damping
Type
Research Article
Information
Robotica , Volume 20 , Issue 3 , May 2002 , pp. 329 - 339
Copyright
2002 Cambridge University Press