Dynamics and control of variable geometry truss manipulator

doi:10.1007/s10483-017-2164-9

Applied Mathematics and Mechanics (English Edition) ›› 2017, Vol. 38 ›› Issue (2): 243-262.doi: https://doi.org/10.1007/s10483-017-2164-9

Dynamics and control of variable geometry truss manipulator

Xiaofeng LIU, Qishuai WANG, Haiquan LI, Guoping CAI

Department of Engineering Mechanics, State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

收稿日期:2016-04-08 修回日期:2016-07-24 出版日期:2017-02-01 发布日期:2017-02-01
通讯作者: Guoping CAI,E-mail:caigp@sjtu.edu.cn E-mail:caigp@sjtu.edu.cn
基金资助:
Project supported by the National Natural Science Foundation of China (Nos.11132001,11272202,and 11472171),the Key Scientific Project of Shanghai Municipal Education Commission (No.14ZZ021),and the Natural Science Foundation of Shanghai (No.14ZR1421000)

Dynamics and control of variable geometry truss manipulator

Xiaofeng LIU, Qishuai WANG, Haiquan LI, Guoping CAI

Department of Engineering Mechanics, State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Received:2016-04-08 Revised:2016-07-24 Online:2017-02-01 Published:2017-02-01
Contact: Guoping CAI E-mail:caigp@sjtu.edu.cn
Supported by:
Project supported by the National Natural Science Foundation of China (Nos.11132001,11272202,and 11472171),the Key Scientific Project of Shanghai Municipal Education Commission (No.14ZZ021),and the Natural Science Foundation of Shanghai (No.14ZR1421000)

摘要/Abstract

摘要：

Variable geometry truss manipulator(VGTM) has potential to work in the future space applications, of which a dynamic model is important to dynamic analysis and control of the system. In this paper, an approach is presented to model the dynamic equations of a VGTM by independent variables, which consists of two double-octahedral truss units and a 3-revolute-prismatic-spherical(3-RPS) parallel manipulator. In this approach, the kinematic recursive relations of two adjacent bodies and geometric constrains are used to deduce the kinematic equations of the VGTM, and Jourdain's velocity variation principle is adopted to establish the dynamic equations of the system. The validity of the proposed dynamic model is verified by comparison of numerical simulations with the software ADAMS. Besides, an active controller for trajectory tracking of the system is designed by the computed torque method. The effectiveness of the controller is numerically proved.

关键词: double-octahedral truss unit, 3-revolute-prismatic-spherical(3-RPS) parallel manipulator, active control, dynamic modeling, variable geometry truss manipulator(VGTM)

Abstract:

Key words: double-octahedral truss unit, active control, variable geometry truss manipulator(VGTM), 3-revolute-prismatic-spherical(3-RPS) parallel manipulator, dynamic modeling

中图分类号:

O313.7

Xiaofeng LIU, Qishuai WANG, Haiquan LI, Guoping CAI. Dynamics and control of variable geometry truss manipulator[J]. Applied Mathematics and Mechanics (English Edition), 2017, 38(2): 243-262.

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Dynamics and control of variable geometry truss manipulator

Dynamics and control of variable geometry truss manipulator

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