Beruflich Dokumente
Kultur Dokumente
.
.
.
p
zp
yp
xp
q
q
q
J
v
v
v
3
2
1
, (1)
where Jp is the robot Jacobian analytically established.
The inverse geometrical modeling of the considered
Triglide parallel robot permits to obtain the liaison between
independent joint variables {q
1
, q
2
, q
3
} and the moving
platform coordinates {x
p
, y
p
, z
p
}:
Dynamic analysis of a Triglide parallel robot
Nadia Ramona Rat
1
, Mircea Neagoe
1
, Dorin Diaconescu
1
and Sergiu Dan Stan
2
1
Transilvania University of Brasov, Romania,
2
Technical University of Cluj-Napoca, Romania,
ncretescu@unitbv.ro, mneagoe@unitbv.ro, dvdiaconescu@unitbv.ro, sergiustan@ieee.org
T
245 978-1-4244-9640-2/11/$26.00 2011 IEEE
Fig. 1. The kinematical structure of the considered Triglide parallel robot
2 2
2
2 2
3 4 1
4 4 3 2 3
2
1
3
2
1
p p p p p
p p
z L x x y y
L L x y q
+
+ + + =
2
2
2 2 2
3 4 2
4 4 3 3 2
2
1
2
1
3
2
1
L z y x y x
L y L x q
p p p p p
p p
+ +
+ + =
, (2)
2 2 2
2 3 4 3 p p p
z x L L L y q + + =
where: L
1
=A
i1
A
i2
; L
2
=A
i1
B
i1
; L
3
= NB
i
; L
4
+q
i
=NA
i
; with
i=1, 2, 3.
Deriving the relation 2, the inverse kinematical model is
obtained:
zp
yp
xp
p
.
.
.
v
v
v
J
q
q
q
1
3
2
1
, (3)
where:
33 32 31
23 22 21
13 12 11
1
a a a
a a a
a a a
J
p
, (4)
with:
2 2
2
2 2
11
4 4 3 2 3
2 3 2
4
1
3
2
1
p p p p p
p p
z L x x y y
x y
a
+
+ =
2 2
2
2 2
12
4 4 3 2 3
3 2 3 6
4
1
2
1
p p p p p
p p
z L x x y y
x y
a
+
+ =
2 2
2
2 2
13
4 4 3 2 3
2
p p p p p
p
z L x x y y
z
a
+
=
2 2
2
2 2
21
4 4 3 3 2
2 3 2
4
1
3
2
1
p p p p p
p p
z L y x y x
x y
a
+ +
+ =
2 2
2
2 2
22
4 4 3 3 2
6 3 2
4
1
2
1
p p p p p
p p
z L y x y x
y x
a
+ +
+ =
2 2
2
2 2
23
4 4 3 3 2
2
p p p p p
p
z L y x y x
z
a
+ +
=
2 2
2
2
31
p p
p
z L x
x
a
+
=
1
32
= a
2 2
2
2
33
p p
p
z L x
z
a
+
=
246
Fig. 2. The dynamical diagram of the Triglide parallel robot
III. DYNAMICAL MODELING OF TRIGLIDE PARALLEL ROBOT
The dynamic modeling has been done in the following
prerequisites:
a) The elements are rigid bodies;
b) The gravity vector is oriented in negative sense of the z
axis (Figure 2);
c) No external load on the moving platform;
d) The inertial matrix J
3
=J
6
=J
8
and J
2
=J
5
=J
7;
e) The mobile platform (the element no. 4) contains four
parts (sub-elements): 41, 42, 43 and 44.
Considering rigid elements with distributed masses, the
dynamic model can be analytically developed using the
Lagrange multipliers method:
j
j j j
i
k
i
i
Q
q
L
q
L
dt
d
q
=
1
,
(5)
where:
i
- Lagrange multipliers;
j
q - Displacements from the actuators;
j
Q