Inverse dynamic analysis of a three degree of freedom parallel mechanism driven by three electrical motors is carried out to study the effect of motion speed on the system dynamics and control input requirements. Availability of inverse dynamics models offer many advantages, but controllers based on real-time inverse dynamic simulations are not practical for many applications due to computational limitations. An off-line linearisation of system and error dynamics based on the inverse dynamic analysis is developed. It is shown that accurate linear models can be obtained even at high motion speeds eliminating the need to use computationally intensive inverse dynamics models. A point-to-point motion path for the mechanism platform is formulated by using a third order exponential function. It is shown that the linearised model parameters vary significantly at high motion speeds, hence it is necessary to use adaptive controllers for high performance.
- Design Engineering Division and Computers and Information in Engineering Division
Inverse Dynamic Analysis and Linearisation of a High Speed Parallel Mechanism
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Sahinkaya, MN, & Li, Y. "Inverse Dynamic Analysis and Linearisation of a High Speed Parallel Mechanism." Proceedings of the ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B. Long Beach, California, USA. September 24–28, 2005. pp. 175-181. ASME. https://doi.org/10.1115/DETC2005-85252
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