Modular modelling methodology applied to the dynamic analysis of parallel mechanisms

Author(s)

Hess-Coelho, Tarcisio Antonio ; Matarazzo Orsino, Renato Maia ; Malvezzi, Fernando

• Document type: Journal article
• Source: MECHANISM AND MACHINE THEORY; v. 161, p. 17-pg., 2021-03-24.

Abstract

In the field of Robotics, parallel mechanisms have been one of the most promising alternative systems for the improvement of the performance of machines, in general, and manipulators, in particular. In fact, they have attracted a great number of researchers and institutions to investigate the feasibility of their potential for reaching high speeds, rigidity, precision and both low overall weight and power consumption [1,2] . After more than two decades, that claimed potential became reality in many applications, such as those requiring pick Dynamic modelling is a comprehensive topic in the area of multibody systems. Particularly, for parallel mechanisms, a great number of approaches have already been proposed in the literature. From the perspective of parallel robot design, though, a need to simplify and systematize the modelling procedures can still be identified, making it easier to generate and modify a model, exploring the intrinsic modularity of these systems. The Modular Modelling Methodology (MMM), recently introduced to deal with general multibody systems, intends to improve the derivation process, through the use of libraries of mathematical models already available for mechanical subsystems (modules) along with generalpurpose computational tools. Considering the distinctive topology of parallel mechanisms, this paper introduces a novel hierarchical method, based on the MMM, for deriving mathematical models for these systems. In order to illustrate the application of this methodology and to demonstrate its inherent benefits, a sample library of models and a case study of a spatial parallel mechanism, the 2 RRRS + P(Pa)P, are provided. (c) 2021 Elsevier Ltd. All rights reserved. (AU)

• FAPESP's process: 18/12087-7 - Contributions to the parametric synthesis of parallel mechanism
• Grantee: Fernando Malvezzi
• Support Opportunities: Regular Research Grants