Acceleration Analysis of 3DOF Parallel Manipulators

Acceleration Analysis of 3DOF Parallel Manipulators

Ajit Pal Singh

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Mr. Hassen Nigatu

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Solomon Seid

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α Adama Science and Technology University

Acceleration Analysis of 3DOF Parallel Manipulators

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Abstract

This paper presents a new approach to the velocity and acceleration analyses 3DOF parallel manipulators. Building on the definition of the ‘acceleration motor’, the forward and inverse velocity and acceleration equations are formulated such that the relevant analysis can be integrated under a unified framework that is based on the generalized Jacobian. A new Hessian matrix of serial kinematic chains (or limbs) is developed in an explicit and compact form using Lie brackets. This idea is then extended to cover parallel manipulators by considering the loop closure constraints. A 3-PRS parallel manipulator with coupled translational and rotational motion capabilities is analyzed to illustrate the generality and effectiveness of this approach.

References

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Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

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Not applicable for this article.

How to Cite This Article

Ajit Pal Singh. 2013. \u201cAcceleration Analysis of 3DOF Parallel Manipulators\u201d. Global Journal of Research in Engineering - A : Mechanical & Mechanics GJRE-A Volume 12 (GJRE Volume 12 Issue A7): .

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GJRE Volume 12 Issue A7
Pg. 31- 41

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

Acceleration analysis Kinematics Parallel manipulators

Submission ReceivedDecember 8, 2011
Peer Review Double Blind
Handling Editor
Accepted January 4, 2012
Published January 15, 2012

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January 8, 2013

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Article Matrices

Total Score: 103

Country: India

Subject: Global Journal of Research in Engineering - A : Mechanical & Mechanics

Authors: Mr. Hassen Nigatu, Ajit Pal Singh, Solomon Seid (PhD/Dr. count: 0)

View Count (all-time): 199

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Publish Date: 2013 01, Tue

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Total Downloads: 2662

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