Inverse dynamics of a 3-DOF translational parallel kinematic machine

다국어 초록 (Multilingual Abstract)

In this paper, kinematics and dynamics modeling of a typical 3-Degree of freedom (DOF) translational Parallel kinematic machine(PKM) is carried out. The kinematic structure of PKM consists of three limbs, connecting the base and the tool platform. Each limb consistsof an arm and a forearm with joints Prismatic-revolute-revolute-revolute (PRRR). The arrangement of joints are in such a way thatthe tool platform will have pure translational motion along the Cartesian axes. Inverse kinematic relations that are necessary to find theslider positions and joint angles for a given position of tool platform are derived. The dynamics model is then derived based on Naturalorhogonal complement (NOC). The inverse dynamics equations presented are used to compute actuator forces. The actuator forces usingNOC are validated with those obtained based on Lagrangian method. The effect of slider, arm, and forearm inertia on the actuator forcesis studied to know whether to neglect the arm and forearm inertias while computing the actuator forces for PKM. Finally, an attempt ismade to find the optimal location of a circular trajectory using Genetic algorithms (GA) with minimization of Grand total actuator force(GTAF) as objective function.

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