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A Mobile Parallel Manipulator: Conceptual Design and Modeling
Yangmin Li; Qingsong Xu
2007
Source PublicationAutonomous Robots Research Advances
PublisherNova Science Publishers, Inc
Pages295-312
Abstract

Compared with the conventional serial robots, Parallel robots can provide many advantages including high accuracy, high rigidity, and high payload capacity. However, parallel robots usually have a major drawback of limited workspace, which restricts their wide range of applications. On the other hand, mobile robots dedicate to a very large and dexterous workspace and have been extensively applied in various autonomous systems. In our research, the conceptual design of a novel mobile parallel manipulator (MPM), which is integrated by a multi-degree of freedom parallel robot and an autonomous wheeled mobile platform, is proposed to overcome the shortcoming of the parallel robot and perform high accuracy tasks. Both the position and differential kinematics for the hybrid system are solved in detail, and the mathematical model describing the MPM dynamics is generated via the Lagrangian approach with simplification hypotheses adopted. Moreover, taking the MPM self-motion into consideration due to its redundancy, the dynamics control in task space is implemented by employing a model-based control scheme. Simulation results illustrate not only the well performance of the control algorithm, but also the validation of the established dynamic model as well. The presented research provides a sound base for the development of a new potential competitor in extensive applications where both high accuracy and large workspace are required in case of an autonomous guidance vehicle, service and personal robots, underwater robots, and space robots, etc.

Language英语
ISBN978-1-60456-185-2
Fulltext Access
Document TypeBook chapter
CollectionFaculty of Science and Technology
DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationA Department of Electromechanical Engineering Faculty of Science and Technology University of Macau
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Yangmin Li,Qingsong Xu. A Mobile Parallel Manipulator: Conceptual Design and Modeling:Nova Science Publishers, Inc,2007:295-312.
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