Parallel Computational Algorithms for the Kinematics and Dynamics of Planar and Spatial Parallel Manipulators-Reference-Cited by-同舟云学术

Parallel Computational Algorithms for the Kinematics and Dynamics of Planar and Spatial Parallel Manipulators

Published:1996-03-01 Issue:1 Volume:118 Page:22-28
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Gosselin C. M.¹

Affiliation:

1. De´partement de Ge´nie Me´canique, Universite´ Laval, Cite´ Universitaire, Que´bec, Que´bec, Canada, G1K 7P4

Abstract

This paper introduces a novel approach for the computation of the inverse dynamics of parallel manipulators. It is shown that, for this type of manipulator, the inverse kinematics and the inverse dynamics procedures can be easily parallelized. The result is a closed-form efficient algorithm using n processors, where n is the number of kinematic chains connecting the base to the end-effector. The dynamics computations are based on the Newton-Euler formalism. The parallel algorithm arises from a judicious choice of the coordinate frames attached to each of the legs, which allows the exploitation of the parallel nature of the mechanism itself. Examples of the application of the algorithm to a planar three-degree-of-freedom parallel manipulator and to a spatial six-degree-of-freedom parallel manipulator are presented.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/118/1/22/5595167/22_1.pdf

Reference29 articles.

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