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Kinematic and dynamic modelling for a class of hybrid robots composed of m local closed-loop linkages appended to an n-link serial manipulator

Kinematic and dynamic modelling for a class of hybrid robots composed of m local closed-loop linkages appended to an n-link serial manipulator

Chu, Anh My, Nguyen, Cong Dinh, Vu, Minh Hoan, Duong, Xuan Bien, Nguyen, Tien Anh and Le, Chi Hieu ORCID: 0000-0002-5168-2297 (2020) Kinematic and dynamic modelling for a class of hybrid robots composed of m local closed-loop linkages appended to an n-link serial manipulator. Applied Sciences, 10 (7):2567. ISSN 2076-3417 (Online) (doi:https://doi.org/10.3390/app10072567)

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Abstract

Recently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynamic issues for individual hybrid robots rather than any generalization. Hence, in this paper, we present a novel method for kinematic and dynamic modelling for a class of hybrid robots. First, a generic scheme for the kinematic design of a general hybrid robot mechanism is proposed. In this manner, the kinematic equation and the constraint equations for the robot class are derived in a generalized case. Second, in order to simplify the dynamic modelling and analysis of the complex hybrid robots, a Lemma about the analytical relationship among the generalized velocities of a hybrid robot system is proven in a generalized case as well. Last, examples of the kinematic and dynamic modelling of a newly designed hybrid robot are presented to demonstrate and validate the proposed method.

Item Type: Article
Additional Information: This article belongs to the Section Mechanical Engineering. *** © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
Uncontrolled Keywords: Hybrid robot; kinematic design; dynamic modelling; local-closed loop; serial manipulator
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Faculty / Department / Research Group: Faculty of Engineering & Science
Faculty of Engineering & Science > Department of Engineering Science
Faculty of Engineering & Science > Design, Manufacturing and Innovative Products Research Theme
Last Modified: 21 May 2020 16:26
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
Selected for GREAT 2019: None
Selected for REF2021: REF 5
URI: http://gala.gre.ac.uk/id/eprint/27651

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