Dynamics and Control of a 5 DOF Manipulator Based on H-4 Parallel Mechanism

摘要

This paper presents a design of a unique hybrid 5 degree-of-freedom manipulator basedon a H-4 Family Parallel Mechanism with three translational movements and one rotationalmovement (orientation angle) together with a single axis rotating table. Forward or directkinematics, inverse kinematics and Jacobian are derived in detail as well as the dynamicmodel. The dynamic model is derived from the Lagrangian formulation and is shown to besuitable in real-time feedback control. The numerical results of the analysis of kinematics,inverse kinematics and the dynamic model are compared with the result from a popularcommercial software using virtual modeling data, the ADAMS solver. Friction modelsobtained from the experiment are used to compensate for the actual friction of the system, inthe resolve acceleration control strategy. The inverse dynamics is implemented for the firstfour axis of the purposed configuration to perform feedback linearization. From theexperimental results, the tracking performance is satisfied and can be improved by increasingthe rigidity of the structure and reducing the numerical truncation error.