The dynamic analysis of a planar parallel manipulator with joint-coupling

Theingi; I. Ming Chen; Chuan Li; Jorge Angeles

doi:10.1109/ICARCV.2006.345413

The dynamic analysis of a planar parallel manipulator with joint-coupling

Theingi^*, I. Ming Chen, Chuan Li, Jorge Angeles

^*Corresponding author for this work

Institute of Lighting and Energy Photonics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, the dynamics of planar parallel manipulators with joint-coupling is presented. In the manipulator with joint-coupling, the actuator torques are distributed among the coupled joints. Hence, the dynamic behavior of the manipulator and the trajectory planning will be different from those manipulators without joint-coupling. Furthermore, the coupling coefficients of the joint-coupling provide an additional way to adjust the dynamic performance of the manipulator. Because of joint-coupling, the total power consumption along the desired trajectory becomes a function of the coupling coefficients. With a maximum limit on the motor torque output, it is possible to find an appropriate set of coupling coefficients that minimize the total power consumption.

Original language	English
Title of host publication	9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
DOIs	https://doi.org/10.1109/ICARCV.2006.345413
State	Published - 2006
Event	9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 - Singapore, Singapore Duration: 5 Dec 2006 → 8 Dec 2006

Publication series

Name	9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06

Conference

Conference	9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
Country/Territory	Singapore
City	Singapore
Period	5/12/06 → 8/12/06

Keywords

Coupling coefficients
Joint-coupling
Singularity

Access to Document

10.1109/ICARCV.2006.345413

Cite this

Theingi, Chen, I. M., Li, C., & Angeles, J. (2006). The dynamic analysis of a planar parallel manipulator with joint-coupling. In 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 Article 4150217 (9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06). https://doi.org/10.1109/ICARCV.2006.345413

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title = "The dynamic analysis of a planar parallel manipulator with joint-coupling",

abstract = "In this paper, the dynamics of planar parallel manipulators with joint-coupling is presented. In the manipulator with joint-coupling, the actuator torques are distributed among the coupled joints. Hence, the dynamic behavior of the manipulator and the trajectory planning will be different from those manipulators without joint-coupling. Furthermore, the coupling coefficients of the joint-coupling provide an additional way to adjust the dynamic performance of the manipulator. Because of joint-coupling, the total power consumption along the desired trajectory becomes a function of the coupling coefficients. With a maximum limit on the motor torque output, it is possible to find an appropriate set of coupling coefficients that minimize the total power consumption.",

keywords = "Coupling coefficients, Joint-coupling, Singularity",

author = "Theingi and Chen, {I. Ming} and Chuan Li and Jorge Angeles",

year = "2006",

doi = "10.1109/ICARCV.2006.345413",

language = "English",

isbn = "1424403421",

series = "9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06",

booktitle = "9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06",

note = "9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 ; Conference date: 05-12-2006 Through 08-12-2006",

}

Theingi, Chen, IM, Li, C & Angeles, J 2006, The dynamic analysis of a planar parallel manipulator with joint-coupling. in 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06., 4150217, 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06, 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06, Singapore, Singapore, 5/12/06. https://doi.org/10.1109/ICARCV.2006.345413

The dynamic analysis of a planar parallel manipulator with joint-coupling. / Theingi; Chen, I. Ming; Li, Chuan et al.
9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06. 2006. 4150217 (9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - The dynamic analysis of a planar parallel manipulator with joint-coupling

AU - Theingi,

AU - Chen, I. Ming

AU - Li, Chuan

AU - Angeles, Jorge

PY - 2006

Y1 - 2006

N2 - In this paper, the dynamics of planar parallel manipulators with joint-coupling is presented. In the manipulator with joint-coupling, the actuator torques are distributed among the coupled joints. Hence, the dynamic behavior of the manipulator and the trajectory planning will be different from those manipulators without joint-coupling. Furthermore, the coupling coefficients of the joint-coupling provide an additional way to adjust the dynamic performance of the manipulator. Because of joint-coupling, the total power consumption along the desired trajectory becomes a function of the coupling coefficients. With a maximum limit on the motor torque output, it is possible to find an appropriate set of coupling coefficients that minimize the total power consumption.

AB - In this paper, the dynamics of planar parallel manipulators with joint-coupling is presented. In the manipulator with joint-coupling, the actuator torques are distributed among the coupled joints. Hence, the dynamic behavior of the manipulator and the trajectory planning will be different from those manipulators without joint-coupling. Furthermore, the coupling coefficients of the joint-coupling provide an additional way to adjust the dynamic performance of the manipulator. Because of joint-coupling, the total power consumption along the desired trajectory becomes a function of the coupling coefficients. With a maximum limit on the motor torque output, it is possible to find an appropriate set of coupling coefficients that minimize the total power consumption.

KW - Coupling coefficients

KW - Joint-coupling

KW - Singularity

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DO - 10.1109/ICARCV.2006.345413

M3 - Conference contribution

AN - SCOPUS:34547195137

SN - 1424403421

SN - 9781424403424

T3 - 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06

BT - 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06

T2 - 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06

Y2 - 5 December 2006 through 8 December 2006

ER -

The dynamic analysis of a planar parallel manipulator with joint-coupling

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Keywords

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