To enlarge the workspace and improve the motion capability of a parallel robot, the base of the robot can be guided to move along a linear or curved track. This paper aims at analyzing how the motion of the base affects the dynamics of a parallel robot. For this purpose, kinematic and dynamic equations are developed for a circular track-guided tripod parallel robot. For kinematics, the motion of the base is incorporated into the analytical formulations of the position and velocity of the tripod. For dynamics, equations of motion are derived using the Lagrangian formulation, and influence factors are defined to provide a quantitative means to measure the effects of the velocity and acceleration of the base on the actuator forces of the tripod. As an application of the above method, a circular track-guided tripod is proposed for the automatic riveting in the assembly of an aircraft fuselage. Simulation studies are carried out to investigate the tripod dynamics. It is found that the motion of the base has a strong impact on the actuator forces. The dynamic model provides a useful tool for the design and control of the circular track-guided tripod.
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e-mail: fengxi@ryerson.ca
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January 2010
Research Papers
Dynamic Modeling and Analysis of a Circular Track-Guided Tripod
Yuwen Li,
Yuwen Li
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
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Fengfeng Xi,
Fengfeng Xi
Department of Aerospace Engineering,
e-mail: fengxi@ryerson.ca
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
Search for other works by this author on:
Allan Daniel Finistauri,
Allan Daniel Finistauri
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
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Kamran Behdinan
Kamran Behdinan
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
Search for other works by this author on:
Yuwen Li
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
Fengfeng Xi
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canadae-mail: fengxi@ryerson.ca
Allan Daniel Finistauri
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, Canada
Kamran Behdinan
Department of Aerospace Engineering,
Ryerson University
, 350 Victoria Street, Toronto, ON, M5B 2K3, CanadaJ. Comput. Nonlinear Dynam. Jan 2010, 5(1): 011005 (10 pages)
Published Online: November 12, 2009
Article history
Received:
August 18, 2008
Revised:
February 10, 2009
Online:
November 12, 2009
Published:
November 12, 2009
Citation
Li, Y., Xi, F., Finistauri, A. D., and Behdinan, K. (November 12, 2009). "Dynamic Modeling and Analysis of a Circular Track-Guided Tripod." ASME. J. Comput. Nonlinear Dynam. January 2010; 5(1): 011005. https://doi.org/10.1115/1.4000313
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