Unified inverse dynamics of variable topologies of a metamorphic parallel mechanism using screw theory

Dongming Gan; Jorge Dias; Lakmal D. Seneviratne

doi:10.1115/DETC2013-12991

Unified inverse dynamics of variable topologies of a metamorphic parallel mechanism using screw theory

Dongming Gan, Jorge Dias, Lakmal D. Seneviratne

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper presents the topology variation of a 3(rT)PS metamorphic parallel mechanism which can change its mobility from 3 to 6. The reconfiguration stems from a reconfigurable (rT)PS limb of which the two phases can be unified by taking one as a special case of the other. Based on this, unified inverse kinematics is solved and a unified dynamics modeling is built using screw theory which naturally represents the geometric constraint and actuation forces in the same manner. The obtained modeling covers all the topologies of the parallel mechanism. A numerical example demonstrates the theoretical results which provide basis for this metamorphic parallel robot with applications in reconfiguration-required environment.

Original language	British English
Title of host publication	37th Mechanisms and Robotics Conference
DOIs	https://doi.org/10.1115/DETC2013-12991
State	Published - 2013
Event	ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States Duration: 4 Aug 2013 → 7 Aug 2013

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	6 B

Conference

Conference	ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
Country/Territory	United States
City	Portland, OR
Period	4/08/13 → 7/08/13

Access to Document

10.1115/DETC2013-12991

Cite this

@inproceedings{a0230b4a24b84b008b92ceec87afff1f,

title = "Unified inverse dynamics of variable topologies of a metamorphic parallel mechanism using screw theory",

abstract = "This paper presents the topology variation of a 3(rT)PS metamorphic parallel mechanism which can change its mobility from 3 to 6. The reconfiguration stems from a reconfigurable (rT)PS limb of which the two phases can be unified by taking one as a special case of the other. Based on this, unified inverse kinematics is solved and a unified dynamics modeling is built using screw theory which naturally represents the geometric constraint and actuation forces in the same manner. The obtained modeling covers all the topologies of the parallel mechanism. A numerical example demonstrates the theoretical results which provide basis for this metamorphic parallel robot with applications in reconfiguration-required environment.",

author = "Dongming Gan and Jorge Dias and Seneviratne, {Lakmal D.}",

year = "2013",

doi = "10.1115/DETC2013-12991",

language = "British English",

isbn = "9780791855942",

series = "Proceedings of the ASME Design Engineering Technical Conference",

booktitle = "37th Mechanisms and Robotics Conference",

note = "ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 ; Conference date: 04-08-2013 Through 07-08-2013",

}

Gan, D, Dias, J & Seneviratne, LD 2013, Unified inverse dynamics of variable topologies of a metamorphic parallel mechanism using screw theory. in 37th Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 6 B, ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013, Portland, OR, United States, 4/08/13. https://doi.org/10.1115/DETC2013-12991

Unified inverse dynamics of variable topologies of a metamorphic parallel mechanism using screw theory. / Gan, Dongming; Dias, Jorge ; Seneviratne, Lakmal D.
37th Mechanisms and Robotics Conference. 2013. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 6 B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Unified inverse dynamics of variable topologies of a metamorphic parallel mechanism using screw theory

AU - Gan, Dongming

AU - Dias, Jorge

AU - Seneviratne, Lakmal D.

PY - 2013

Y1 - 2013

N2 - This paper presents the topology variation of a 3(rT)PS metamorphic parallel mechanism which can change its mobility from 3 to 6. The reconfiguration stems from a reconfigurable (rT)PS limb of which the two phases can be unified by taking one as a special case of the other. Based on this, unified inverse kinematics is solved and a unified dynamics modeling is built using screw theory which naturally represents the geometric constraint and actuation forces in the same manner. The obtained modeling covers all the topologies of the parallel mechanism. A numerical example demonstrates the theoretical results which provide basis for this metamorphic parallel robot with applications in reconfiguration-required environment.

AB - This paper presents the topology variation of a 3(rT)PS metamorphic parallel mechanism which can change its mobility from 3 to 6. The reconfiguration stems from a reconfigurable (rT)PS limb of which the two phases can be unified by taking one as a special case of the other. Based on this, unified inverse kinematics is solved and a unified dynamics modeling is built using screw theory which naturally represents the geometric constraint and actuation forces in the same manner. The obtained modeling covers all the topologies of the parallel mechanism. A numerical example demonstrates the theoretical results which provide basis for this metamorphic parallel robot with applications in reconfiguration-required environment.

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DO - 10.1115/DETC2013-12991

M3 - Conference contribution

AN - SCOPUS:84897006203

SN - 9780791855942

T3 - Proceedings of the ASME Design Engineering Technical Conference

BT - 37th Mechanisms and Robotics Conference

T2 - ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013

Y2 - 4 August 2013 through 7 August 2013

ER -

Unified inverse dynamics of variable topologies of a metamorphic parallel mechanism using screw theory

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