Journal cover Journal topic
Mechanical Sciences An open-access journal for theoretical and applied mechanics

Journal metrics

  • IF value: 1.211 IF 1.211
  • IF 5-year<br/> value: 1.705 IF 5-year
    1.705
  • SNIP value: indexed SNIP
    indexed
  • SJR value: indexed SJR
    indexed
  • IPP value: indexed IPP
    indexed
  • h5-index value: 15 h5-index 15
Supported by
Logo Library of Delft University of Technology
Logo NWO
Affiliated to
Logo iftomm
Mech. Sci., 8, 235-248, 2017
https://doi.org/10.5194/ms-8-235-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
Research article
28 Jul 2017
Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator
Santhakumar Mohan1 and Burkhard Corves2 1Discipline of Mechanical Engineering, Indian Institute of Technology, Indore, 453552, India
2Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Aachen, 52072, Germany
Abstract. This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial 3-RPRS parallel manipulator. The geometry parameters of the manipulator are optimized for a given constant orientation workspace. Further, a robust task-space trajectory tracking control is also designed for the manipulator along with a nonlinear disturbance observer. To demonstrate the efficacy and show the complete performance of the proposed controller, virtual prototype experiments are executed using one of the multibody dynamics software namely MSC Adams. The computer-based virtual prototype experiment results show that the manipulator tracking performance is satisfactory with the proposed control scheme. In addition, the controller parameter sensitivity and robustness analyses are also accomplished.

Citation: Mohan, S. and Corves, B.: Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator, Mech. Sci., 8, 235-248, https://doi.org/10.5194/ms-8-235-2017, 2017.
Publications Copernicus
Download
Short summary
This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial 3-RPRS parallel manipulator. Further, a robust task-space trajectory tracking control is also designed for the manipulator along with a nonlinear disturbance observer. To demonstrate the efficacy and show the complete performance of the proposed controller, virtual prototype experiments are executed using one of multibody dynamics software namely MSC Adams.
This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial...
Share