Utilizing the virtual work principle, this paper presents a method for the inverse dynamic formulation of the 3-degree-of-freedom (DOF) modules of the well-known Tricept robot and a newly invented hybrid robot named TriVariant. The TriVariant is a modified version of the Tricept, achieved by integrating one of the three active limbs into the passive one. Both local and global conditioning indices are proposed for the dynamic performance evaluation and comparison of these two robots. These indices are designed on the basis of the maximum actuated joint force required for producing a unit acceleration of the mobile platform. For a given set of geometrical and inertial parameters, it has been shown that the TriVariant has a similar overall dynamic performance compared with that of the Tricept.
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November 2005
Research Papers
Dynamic Formulation and Performance Comparison of the 3-DOF Modules of Two Reconfigurable PKM—the Tricept and the TriVariant
Xueman Zhao,
Xueman Zhao
School of Mechanical Engineering,
e-mail: htiantju@public.tpt.tj.cn
Tianjin University
, Tianjin 300072, People’s Republic of China
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Derek G. Chetwynd,
Derek G. Chetwynd
School of Engineering,
University of Warwick
, Coventry CV4 7AL, United Kingdom
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S. Jack Hu
S. Jack Hu
Department of Mechanical Engineering,
The University of Michigan
, Ann Arbor, MI 48109
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Xueman Zhao
School of Mechanical Engineering,
Tianjin University
, Tianjin 300072, People’s Republic of Chinae-mail: htiantju@public.tpt.tj.cn
Derek G. Chetwynd
School of Engineering,
University of Warwick
, Coventry CV4 7AL, United Kingdom
S. Jack Hu
Department of Mechanical Engineering,
The University of Michigan
, Ann Arbor, MI 48109J. Mech. Des. Nov 2005, 127(6): 1129-1136 (8 pages)
Published Online: February 9, 2005
Article history
Received:
September 9, 2004
Revised:
February 9, 2005
Citation
Li, M., Huang, T., Mei, J., Zhao, X., Chetwynd, D. G., and Hu, S. J. (February 9, 2005). "Dynamic Formulation and Performance Comparison of the 3-DOF Modules of Two Reconfigurable PKM—the Tricept and the TriVariant." ASME. J. Mech. Des. November 2005; 127(6): 1129–1136. https://doi.org/10.1115/1.1992511
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