Yi Lu, Peng Wang, Zhuolei Hou, Hu Bo, Chunping Sui, and Jianda Han
Parallel manipulator with multi grippers, coordinative dynamics, coordinative kinetostaticsNotationDoF – degree of freedom; PM – parallel manipulatorm, B – platform and base of PMbi, Bi – joints on m and B (i = 1, 2, 3)wi – the ith clawS, P, R – spherical, prismatic, revolute jointri, δi – active legs of PM and its unit vector{B}, {m} – coordinate frame of B and mα, β, λ – three Euler angles of m in {B}xl, xm, xn, yl, ym, yn, zl, zm, zn – orientation parametersof mlsi, L
A kinetostatic model and a dynamics model of a parallel manipulator (PM) with three grippers are established and analyzed in the light of its application. First, the coordinative kinematics of this manipulator and three grippers are analyzed. Second, the kinetostatic formulae are derived for transforming the coordinative kinematics and forces applied on the grippers into the workloads applied on the moving platform and the active/constrained forces and torques applied onto active legs. Third, the dynamics formulae are derived for solving dynamic active wrench of grippers and PM by considering inertial mass of the grippers, legs and platform. Finally, a numerical example is given for illustrating application of kinetostatic model and dynamics formulae, and the dynamics solutions of this manipulator are verified by simulation.
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