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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 8, issue 2
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.
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

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 Santhakumar Mohan and Burkhard Corves
  • 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.

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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...
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