On the Velocity and Acceleration Analysis of General Parallel Robotic Manipulators

摘要

This article presents a unified method for the velocity and acceleration analyses of general parallel robotic manipulators. In this method, the governing velocity and acceleration equations of the robot are formulated in the joint space by considering it as a tree-type mechanism subjected to Cartesian velocity and acceleration constraints. The procedures for solving the direct and the inverse analysis problems are established based on the generalized coordinate partitioning technique and the full pivoting Gaussian elimination method. These procedures take into account the overconstrained kinematic loops and redundant joints, and are applicable to either fully parallel robots or hybrid series-parallel robots without any modifications. In addition, a set of generalized recursive formulas for computing the forward Cartesian velocity and acceleration transformations are developed. These formulas are also useful for efficient evaluating the complex nonlinear terms of the governing acceleration equations.