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Research Papers

Identification of Dynamic Parameter of a 3DOF Parallel Manipulator With Actuation Redundancy

[+] Author and Article Information
Jun Wu1

Department of Precision Instruments, Institute of Manufacturing Engineering, Tsinghua University, Beijing, 100084, P.R.C.wu-j03@mails.tsinghua.edu.cn

Jinsong Wang, Liping Wang

Department of Precision Instruments, Institute of Manufacturing Engineering, Tsinghua University, Beijing, 100084, P.R.C.

1

Corresponding author.

J. Manuf. Sci. Eng 130(4), 041012 (Jul 15, 2008) (7 pages) doi:10.1115/1.2952823 History: Received August 07, 2007; Revised April 12, 2008; Published July 15, 2008

This paper deals with the dynamic parameter identification of a 3DOF parallel manipulator with actuation redundancy. A method for finding the parameter linear form of the dynamic equation is presented. Based on the virtual work principle, the dynamic equation for the application of dynamic parameter identification is obtained by extracting the dynamic parameters from inertial forces and moments of moving parts. Two-step identification approach is used to identify the dynamic parameters of the redundantly actuated parallel manipulator. The approach consists of two steps and utilizes simple point-to-point motions that lead to a separation of friction and rigid-body dynamics. The identified results are validated by experiments. Moreover, the experimental application of the identified model to a machine tool, which is created by combining the parallel manipulator with a 2DOF worktable, demonstrates the efficiency of dynamic parameter identification.

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Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

3D model of the redundant manipulator

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Figure 2

The kinematic model

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Figure 3

Photograph of the hybrid machine tool

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Figure 4

Driving force that acts on the left slider

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Figure 5

Driving force that acts on the right slider

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Figure 6

Driving force that acts on Chain E1B1

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Figure 7

Driving force that acts on Chain E2B2

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Figure 8

Tracking error along the Y-axis with identified and unidentified dynamic parameters

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Figure 9

Tracking error along the Z-axis with identified and unidentified dynamic parameters

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Figure 10

Tracking error of α with identified and unidentified dynamic parameters

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