Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism
Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism
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DOI：
10.1016/j.mechmachtheory.2008.02.003
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发表时间：
2009
影响因子：
5.2
通讯作者：
H. Abdellatif;B. Heimann
中科院分区：
文献类型：
--
作者：
H. Abdellatif;B. Heimann
本文重新讨论了用拉格朗日形式推导并联机器人运动方程的问题。由于被认为对闭环机构效率低下，这种形式主义在并联机器人中变得不受欢迎。本文通过给出一种直观而简单的方法来论证相反的情况。我们的想法是考虑开环子链的机械手，并推导出他们的动态拉格朗日形式主义和相对于自己的一组广义坐标和速度。本文讨论并证明了这些坐标形式选择的重要性。能量等效的原则推导出允许加入不同的运动方程。为了得到关于机器人主动坐标的最终形式，必须注意子链动力学的变换，本文介绍了这种变换。最后，系统的研究所产生的计算工作，并讨论了在文献中给出的其他方法和途径。
This paper readdress the issue of deriving explicit equations of motion for parallel robots by using the Lagrangian formalism. Reputed of being inefficient for closed-loop mechanisms, the formalism became unpopular for parallel robots. This paper argue the converse by giving an alternative, though intuitive and simple approach. The idea is to consider open-loop subchains of the manipulator and to derive their dynamics by the Lagrangian formalism and with respect to an own set of generalized coordinates and velocities. The paper discusses and proves the importance of the formal choice of these coordinates. The principle of energy equivalence is derived to allow for joining the different equations of motion. To obtain the final form with respect to the robot’s active coordinates, attention has to be paid to the transformation of the subchains dynamics, which is introduced in this paper. Finally, a systematic study of the resulting computational effort is presented and discussed in relation to other methods and approaches given in the literature.