A comparative study of the configuration-space and actuator-space formulations of the Lagrangian dynamics of parallel manipulators and the effects of kinematic singularities on these. (December 2018)

• Record Type: Journal Article
• Authors: Muralidharan, Vimalesh; Mamidi, Teja Krishna; Guptasarma, Shivani; Nag, Anirban; Bandyopadhyay, Sandipan
• Is Part Of: Mechanism and machine theory. Volume 130(2018)
• Page Start: 403
• Page End: 434
• Publication Date: 2018-12
• Subjects: Lagrangian dynamics -- Parallel manipulators -- Gain-type singularities -- Configuration-space singularities; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2018.07.009
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: A comparative study of two variants of Lagrangian dynamic formulation is presented. The impact of kinematic singularities are studied in detail. A planar five-bar and a Stewart platform manipulator are used as examples. Numerical simulations are done over singular and non-singular trajectories. Both forward and inverse dynamics are studied in the same framework. Abstract: This paper studies the configuration-space and the actuator-space variants of the Lagrangian formulation of dynamics of parallel manipulators. In particular, the effects of the gain-type singularity and the configuration-space singularity on the forward and inverse dynamic analyses using these formulations are studied in detail. A condition for kinematic consistency at a gain-type singularity is established. The formulations are implemented on a planar five-bar manipulator and a bi-planar Stewart platform manipulator. Extensive numerical simulations augment the analytical developments in the understanding of the dynamic behaviour of the manipulators, in both the singular and the non-singular cases.