Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10133984 | Mechanism and Machine Theory | 2018 | 32 Pages |
Abstract
This paper studies the configuration-space and the actuator-space variants of the Lagrangian formulation of dynamics of parallel manipulators. In particular, the effects of the gain-type singularity and the configuration-space singularity on the forward and inverse dynamic analyses using these formulations are studied in detail. A condition for kinematic consistency at a gain-type singularity is established. The formulations are implemented on a planar five-bar manipulator and a bi-planar Stewart platform manipulator. Extensive numerical simulations augment the analytical developments in the understanding of the dynamic behaviour of the manipulators, in both the singular and the non-singular cases.
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Authors
Vimalesh Muralidharan, Teja Krishna Mamidi, Shivani Guptasarma, Anirban Nag, Sandipan Bandyopadhyay,