Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal Seneviratne

Research output: Contribution to journalArticlepeer-review

19 Scopus citations

Abstract

This paper presents a unified inverse kinematics and dynamics model of a metamorphic parallel mechanism with pure rotation and pure translation phases. By altering one rotation axis of the reconfigurable Hooke (rT) joints in the limbs, the mechanism can be switched into one of the two phases. To provide joint reaction forces for optimal design and control, Newton method is used in developing the dynamics model which is unified by combining geometric constraints and parameters in both phases. An analytical investigation provides special joint force decomposition and limb coordinate setup to decouple the dynamics equations between the platform and the limbs. This reduces the dynamics computation load from solving a 15 × 15 matrix to a 6 × 6 matrix. A numerical example is given to illustrate the proposed method and simulation results are explained and compared between the two phases. The work on this paper gives good reference for optimal design and control of this metamorphic parallel mechanism in different applications using two phases.

Original languageBritish English
Pages (from-to)1583-1593
Number of pages11
JournalMeccanica
Volume51
Issue number7
DOIs
StatePublished - 1 Jul 2016

Keywords

  • Joint force decomposition
  • Parallel mechanism
  • Reconfigurable
  • Unified dynamics

Fingerprint

Dive into the research topics of 'Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism'. Together they form a unique fingerprint.

Cite this