An improved mathematical model for hyper redundant hybrid mechanism based on the Lagrange method. Issue 12 (2nd December 2021)

• Record Type: Journal Article
• Authors: Rahmani, Arash; Faroughi, Shirko; Haddad Khodaparast, Hamed; Yang, Chenguang
• Is Part Of: International journal of control. Volume 94:Issue 12(2021)
• Page Start: 3300
• Page End: 3321
• Publication Date: 2021-12-02
• Subjects: Hyper redundant hybrid mechanism -- kinematics and dynamics solution -- rotational DOF -- Lagrange method -- coulomb friction model; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2020.1762122
• Languages: English
• ISSNs: 0020-7179

Abstract

Abstract : In this paper, an improved mathematical model for a novel hyper redundant hybrid mechanism with 12 DOFs is presented. This hyper redundant hybrid mechanism is composed sequentially of two Stewart platforms as slave and master modules known as 2 (6-Universal-Prismatic-Spherical). Regarding to the redundancy of this mechanism, a complex trajectory is considered for this redundant mechanism which is impossible for non-redundant parallel mechanisms to navigate. First, the inverse kinematics of mechanism is solved and Jacobian matrices are obtained considering the rotational DOF for pods around axial direction. Next, using energy principles and Lagrange method the exact equation of motion is formed. Finally, to verify the results obtained by simulation, an experiment on 2-(6UPS) mechanism is carried out to validate the results. According to the results, it is obvious that the proposed mathematical model is comprehensive, and it can be used with great reliability for all intentions such as control strategies.