Kinematic and dynamic modeling of a parallel manipulator with eight actuation modes

Stéphane Caro; Damien Chablat; Philippe Wenger; Xianwen Kong

doi:10.1007/978-3-319-05431-5_21

Kinematic and dynamic modeling of a parallel manipulator with eight actuation modes

Stéphane Caro^*, Damien Chablat, Philippe Wenger, Xianwen Kong

^*Corresponding author for this work

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

5 Citations (Scopus)

Abstract

Kinematic and dynamic performances of parallel manipulators are usually not homogeneous throughout their operational workspace. This problem is usually solved by introducing actuation redundancy, which involves force control algorithms. Another approach is the selection of the best actuation modes along a trajectory to be followed with regard to the kinetostatic, elastostatic and dynamic performances of the parallel manipulator. Accordingly, this chapter introduces a novel three degree-of-freedom planar parallel manipulator with variable actuation modes, named NAVARO. NAVARO stands for NAntes Variable Actuation RObot and has eight actuation modes. First, the prototype of the manipulator is presented. Then, its transmission systems are presented. Finally, the kinematic and dynamic models of the NAVARO are developed.

Original language	English
Title of host publication	Mechanisms and Machine Science
Publisher	Kluwer Academic Publishers
Pages	315-329
Number of pages	15
Volume	20
ISBN (Print)	978-3-319-05430-8
DOIs	https://doi.org/10.1007/978-3-319-05431-5_21
Publication status	Published - 2014
Event	1st International Workshop on Medical and Service Robots - , United Kingdom Duration: 30 Jun 2013 → 1 Jul 2013

Conference

Conference	1st International Workshop on Medical and Service Robots
Abbreviated title	MeSRoB 2012
Country/Territory	United Kingdom
Period	30/06/13 → 1/07/13

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

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10.1007/978-3-319-05431-5_21

Cite this

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title = "Kinematic and dynamic modeling of a parallel manipulator with eight actuation modes",

abstract = "Kinematic and dynamic performances of parallel manipulators are usually not homogeneous throughout their operational workspace. This problem is usually solved by introducing actuation redundancy, which involves force control algorithms. Another approach is the selection of the best actuation modes along a trajectory to be followed with regard to the kinetostatic, elastostatic and dynamic performances of the parallel manipulator. Accordingly, this chapter introduces a novel three degree-of-freedom planar parallel manipulator with variable actuation modes, named NAVARO. NAVARO stands for NAntes Variable Actuation RObot and has eight actuation modes. First, the prototype of the manipulator is presented. Then, its transmission systems are presented. Finally, the kinematic and dynamic models of the NAVARO are developed.",

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T1 - Kinematic and dynamic modeling of a parallel manipulator with eight actuation modes

AU - Caro, Stéphane

AU - Chablat, Damien

AU - Wenger, Philippe

AU - Kong, Xianwen

PY - 2014

Y1 - 2014

N2 - Kinematic and dynamic performances of parallel manipulators are usually not homogeneous throughout their operational workspace. This problem is usually solved by introducing actuation redundancy, which involves force control algorithms. Another approach is the selection of the best actuation modes along a trajectory to be followed with regard to the kinetostatic, elastostatic and dynamic performances of the parallel manipulator. Accordingly, this chapter introduces a novel three degree-of-freedom planar parallel manipulator with variable actuation modes, named NAVARO. NAVARO stands for NAntes Variable Actuation RObot and has eight actuation modes. First, the prototype of the manipulator is presented. Then, its transmission systems are presented. Finally, the kinematic and dynamic models of the NAVARO are developed.

AB - Kinematic and dynamic performances of parallel manipulators are usually not homogeneous throughout their operational workspace. This problem is usually solved by introducing actuation redundancy, which involves force control algorithms. Another approach is the selection of the best actuation modes along a trajectory to be followed with regard to the kinetostatic, elastostatic and dynamic performances of the parallel manipulator. Accordingly, this chapter introduces a novel three degree-of-freedom planar parallel manipulator with variable actuation modes, named NAVARO. NAVARO stands for NAntes Variable Actuation RObot and has eight actuation modes. First, the prototype of the manipulator is presented. Then, its transmission systems are presented. Finally, the kinematic and dynamic models of the NAVARO are developed.

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U2 - 10.1007/978-3-319-05431-5_21

DO - 10.1007/978-3-319-05431-5_21

M3 - Conference contribution

AN - SCOPUS:84928156291

SN - 978-3-319-05430-8

VL - 20

SP - 315

EP - 329

BT - Mechanisms and Machine Science

PB - Kluwer Academic Publishers

T2 - 1st International Workshop on Medical and Service Robots

Y2 - 30 June 2013 through 1 July 2013

ER -

Kinematic and dynamic modeling of a parallel manipulator with eight actuation modes

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ASJC Scopus subject areas

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