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ABSTRACT
Modelling and dynamic analysis of a novel four degrees of freedoms (DOFs) parallel manipulator (PM) with 4RSS+PS topology is conducted in this paper. The letters R, S and P denote revolute joint, spherical joint and prismatic joint, respectively, and underline denotes an actuated joint. The proposed manipulator has three rotational and one translational DOF (3R1T), while one of the rotational DOFs around the direction of translational DOF is free of limitation. In addition to the inverse kinematic, velocity and acceleration analyses, a computationally efficient scheme based on the principle of virtual work is presented to derive a closed-form dynamic equation of the 4RSS+PS PM. Then, the dynamic equation is applied for the inverse and forward dynamic analyses of the manipulator. Numerical examples are also studied with Matlab software and its SimMechanics toolbox to demonstrate correctness and efficiency of the presented dynamic modelling.
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No potential conflict of interest was reported by the author.
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Soheil Zarkandi
Soheil Zarkandi received his B.Eng. and M.Eng. degrees in Mechanical Engineering from Babol Noshirvani University of Technology, Mazandaran, Babol, Iran, in 2006 and 2009, respectively. His research interests include kinematics and dynamics of robots and mechanisms, optimization and Computer aided design (CAD).