Inverse kinematic and dynamic analyses of the 6-UCU parallel manipulator

Guojun Liu; Shutao Zheng; Peter Ogbobe; Junwei Han

doi:10.4028/www.scientific.net/AMM.127.172

Inverse kinematic and dynamic analyses of the 6-UCU parallel manipulator

Guojun Liu, Shutao Zheng, Peter Ogbobe, Junwei Han

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.

Original language	English
Title of host publication	Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011
Pages	172-180
Number of pages	9
DOIs	https://doi.org/10.4028/www.scientific.net/AMM.127.172
State	Published - 2012
Externally published	Yes
Event	2011 International Academic Conference on Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011 - Wuhan, China Duration: 24 Dec 2011 → 25 Dec 2011

Publication series

Name	Applied Mechanics and Materials
Volume	127
ISSN (Print)	1660-9336
ISSN (Electronic)	1662-7482

Conference

Conference	2011 International Academic Conference on Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011
Country/Territory	China
City	Wuhan
Period	24/12/11 → 25/12/11

Keywords

6-UCU parallel manipulator
Inverse dynamic analysis
Inverse kinematic analysis
Newton-Euler method
Stewart platform

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10.4028/www.scientific.net/AMM.127.172

Cite this

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title = "Inverse kinematic and dynamic analyses of the 6-UCU parallel manipulator",

abstract = "From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.",

keywords = "6-UCU parallel manipulator, Inverse dynamic analysis, Inverse kinematic analysis, Newton-Euler method, Stewart platform",

author = "Guojun Liu and Shutao Zheng and Peter Ogbobe and Junwei Han",

year = "2012",

doi = "10.4028/www.scientific.net/AMM.127.172",

language = "英语",

isbn = "9783037852835",

series = "Applied Mechanics and Materials",

pages = "172--180",

booktitle = "Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011",

note = "2011 International Academic Conference on Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011 ; Conference date: 24-12-2011 Through 25-12-2011",

}

Liu, G, Zheng, S, Ogbobe, P & Han, J 2012, Inverse kinematic and dynamic analyses of the 6-UCU parallel manipulator. in Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011. Applied Mechanics and Materials, vol. 127, pp. 172-180, 2011 International Academic Conference on Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011, Wuhan, China, 24/12/11. https://doi.org/10.4028/www.scientific.net/AMM.127.172

Inverse kinematic and dynamic analyses of the 6-UCU parallel manipulator. / Liu, Guojun; Zheng, Shutao; Ogbobe, Peter et al.
Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011. 2012. p. 172-180 (Applied Mechanics and Materials; Vol. 127).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Inverse kinematic and dynamic analyses of the 6-UCU parallel manipulator

AU - Liu, Guojun

AU - Zheng, Shutao

AU - Ogbobe, Peter

AU - Han, Junwei

PY - 2012

Y1 - 2012

N2 - From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.

AB - From the practical viewpoint, the inverse kinematics and dynamics of a practical Stewart platform, the 6-UCU parallel manipulator, are established in this paper. The velocities and accelerations of the manipulator are derived with the consideration of the attachments of the joints, and then the driving forces actuated by the actuators and the reaction forces applied to the joints are derived based on the Newton Euler method. In the last, the correctness of the equations established in this paper is confirmed by the study of a case. These equations can be used as the base for the precise analysis of the 6-UCU parallel manipulator.

KW - 6-UCU parallel manipulator

KW - Inverse dynamic analysis

KW - Inverse kinematic analysis

KW - Newton-Euler method

KW - Stewart platform

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BT - Numbers, Intelligence, Manufacturing Technology and Machinery Automation, MAMT 2011

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Y2 - 24 December 2011 through 25 December 2011

ER -

Inverse kinematic and dynamic analyses of the 6-UCU parallel manipulator

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