Open AccessAcceleration Analysis of 3DOF Parallel Manipulators
Author(s) -
Hassen Nigatu,
Ajit Pal Singh,
Solomon Seid
Publication year - 2013
Publication title -
global journal of research in engineering
Language(s) - English
Resource type - Journals
ISSN - 2249-4596
DOI - 10.34257/gjreavol12is7pg31
Subject(s) - acceleration , jacobian matrix and determinant , hessian matrix , kinematics , parallel manipulator , generality , mathematics , inverse , control theory (sociology) , computer science , geometry , physics , classical mechanics , artificial intelligence , psychology , control (management) , psychotherapist
This paper presents a new approach to the velocity and acceleration analyses 3DOF parallel manipulators. Building on the definition of the ‘acceleration motor’, the forward and inverse velocity and acceleration equations are formulated such that the relevant analysis can be integrated under a unified framework that is based on the generalized Jacobian. A new Hessian matrix of serial kinematic chains (or limbs) is developed in an explicit and compact form using Lie brackets. This idea is then extended to cover parallel manipulators by considering the loop closure constraints. A 3- PRS parallel manipulator with coupled translational and rotational motion capabilities is analyzed to illustrate the generality and effectiveness of this approach.