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- Title
Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of m Local Closed-Loop Linkages Appended to an n-Link Serial Manipulator.
- Authors
Chu, Anh My; Nguyen, Cong Dinh; Vu, Minh Hoan; Duong, Xuan Bien; Nguyen, Tien Anh; Le, Chi Hieu
- Abstract
Featured Application: The systematic and generic method proposed in this study for the kinematic design and dynamic modelling for a class of complex hybrid robots is useful and applicable for the development of new hybrid robot products. Based on the proposed method, the mechanism of a new hybrid robot can be synthesized and analysed effectively; the dynamicmodel and control law of a complex robot can be formulated and simulated in a simplified and effective manner. 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.
- Subjects
MANIPULATORS (Machinery); DYNAMIC models; ROBOTS; HYBRID systems; MATHEMATICAL complex analysis
- Publication
Applied Sciences (2076-3417), 2020, Vol 10, Issue 7, p2567
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app10072567