Analysis of the Dynamic Forces of 3D Printer with 4 Degrees of Freedom
Subject Areas : roboticssajjad pakzad 1 , ebrahim imani 2
1 - Faculty of Design,
Tabriz Islamic Art University, Iran
2 - Faculty of Design,
Tabriz Islamic Art University, Iran
Department of PDTA, Sapienza University of Rome, Rome, Italy
Keywords:
Abstract :
[1] Tsai, L. W., Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Wiley, 1999.
[2] Wu, J., Yin, Z., A Novel 4-DOF Parallel Manipulator H4 in Parallel Manipulators, Towards New Applications, Huapeng Wu, I-Tech Education and Publishing, 2008, pp. 405–448.
[3] Stewart, D., A Platform with Six Degrees of Freedom, Proceedings of the Institution of Mechanical Engineers, Vol. 180, 1965, pp. 371–386.
[4] Merlet, J. P., Parallel Robots. Springer, 2006.
[5] Geng, Z., Haynes, L. S., Lee, J. D., and Carroll, R. L., On the Dynamic Model and Kinematic Analysis of a Class of Stewart Platforms, Robotics and Autonomous Systems, Vol. 9, No. 4, 1992, pp. 237–254.
[6] Lebret, G., Liu, K., and Lewis, F. L., Dynamic Analysis and Control of a Stewart Platform Manipulator, Journal of Robotic Systems, Vol. 10, No. 3, 1993, pp. 629–655.
[7] Pang, H., Shahinpoor, M., Inverse Dynamics of a Parallel Manipulator, Journal of Robotic Systems, Vol. 11, No. 8, 1994, pp. 693–702.
[8] Caccavale, F., Siciliano, B., and Villani, L., The Tricept Robot: Dynamics and Impedance Control, IEEE/ASME Transactions on Mechatronics, Vol. 8, No. 2, 2003, pp. 263–268.
[9] Abdellatif, H., Heimann, B., Computational Efficient Inverse Dynamics of 6-DOF Fully Parallel Manipulators by Using the Lagrangian Formalism, Mechanism and Machine Theory, Vol. 44, No. 1, 2009, pp. 192–207.
[10] Do, W. Q. D., Yang, D. C., Inverse Dynamic Analysis and Simulation of a Platform Type of Robot, Journal of Robotic Systems, Vol. 5, No. 3, 1988, pp. 209–227.
[11] Reboulet, C., Berthomieu, T., Dynamic Models of a Six Degree of Freedom Parallel Manipulators, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments, Pisa, Italy, 1991.
[12] Ji, Z., Study of the Effect of Leg Inertia in Stewart Platforms, Proceedings IEEE International Conference on Robotics and Automation, Atlanta, GA, USA, 1993.
[13] Harib, K. H., Dynamic Modeling, Identification and Control of Stewart Platform-Based Machine Tools, the Ohio State University, Columbus, Ohio, 1997.
[14] Dasgupta, B., Mruthyunjaya, T. S., A Newton-Euler Formulation for The Inverse Dynamics of the Stewart Platform Manipulator, Mechanism and Machine Theory, Vol. 33, No. 8, 1998, pp. 1135–1152.
[15] Dasgupta, B., Mruthyunjaya, T. S., Closed-Form Dynamic Equations of the General Stewart Platform through the Newton–Euler Approach, Mechanism and Machine Theory, Vol. 33, No. 7, 1998, pp. 993–1012.
[16] Dasgupta, B., Mruthyunjaya, T. S., Erratum to ‘Closed-Form Dynamic Equations of the General Stewart Platform through the Newton — Euler Approach’ [Mechanism and Machine Theory 33 (7) 993–1012], Mechanism and Machine Theory, Vol. 35, No. 4, 2000, p. III.
[17] Riebe, S., Ulbrich, H., Modelling and Online Computation of the Dynamics of a Parallel Kinematic with Six Degrees-Of-Freedom, Archive of Applied Mechanics, Vol. 72, No. 11-12, 2003, pp. 817–829.
[18] Guo, H. B., Li, H. R., Dynamic Analysis and Simulation of a Six Degree of Freedom Stewart Platform Manipulator, Proceedings of The Institution of Mechanical Engineers Part C-journal of Mechanical Engineering Science, Vol. 220, 2006, pp. 61–72.
[19] Khalil, W., Ibrahim, O., General Solution for The Dynamic Modeling of Parallel Robots, Journal of Intelligent and Robotic Systems, Vol. 49, No. 1, 2007, pp. 19–37.
[20] Wang, J., Wu, J., Wang, L., and Li, T., Simplified Strategy of the Dynamic Model of A 6-UPS Parallel Kinematic Machine for Real-Time Control, Mechanism and Machine Theory, Vol. 42, No. 9, 2007, pp. 1119–1140.
[21] Mahmoodi, A., Menhaj, M. B., and Sabzehparvar, M., An Efficient Method for Solution of Inverse Dynamics of Stewart Platform, Aircraft Engineering and Aerospace Technology, Vol. 81, No. 5, 2009, pp. 398–406.
[22] Clavel, R., Conception d’un Robot Parallèle Rapide À 4 Degrés De Liberté, Lausanne, EPFL, Thesis, 1991.
[23] Wang, J., Gosselin, C. M., A New Aproach for the Dynamic Analysis of Parallel Manipulators, Multibody System Dynamics, Vol. 2, No. 3, 1998, pp. 317–334.
[24] Gallardo, J., Rico, J. M., Frisoli, A., Checcacci, D., and Bergamasco, M., Dynamics of Parallel Manipulators by Means of Screw Theory, Mechanism and Machine Theory, Vol. 38, No. 11, 2003, pp. 1113–1131.
[25] Tsai, L. W., Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work, Journal of Mechanical Design, Vol. 122, No. 1, 2000, pp. 3.
[26] Nguyen, C. C., Pooran, F. J., Dynamic Analysis of A 6 dof Ckcm Robot End-Effector for Dual-Arm Telerobot Systems, Robotics and Autonomous Systems, Vol. 5, No. 4, 1989, pp. 377–394.
[27] Fujimoto, K.; Kinoshita, Y.; Maeda, K.; Tadokoro, S., and Takamori, T., Derivation and Analysis of Equations of Motion for 6-DOF Direct-Drive Wrist Joint, Proceedings IROS '91: IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Osaka, Japan, 1991, pp. 2–7.
[28] Miller, K., Clavel, R., The Lagrange-Based Model of Delta-4 Robot Dynamics, Robotersysteme, No. 8, 1992, pp. 49–54.
[29] Liu, K., Lewis, F., Lebret, G., and Taylor, D., The Singularities and Dynamics of a Stewart Platform Manipulator, Journal of Intelligent and Robotic Systems, Vol. 8, No. 3, 1993, pp. 287–308.
[30] Miller, K., Optimal Design and Modeling of Spatial Parallel Manipulators, The International Journal of Robotics Research, Vol. 23, No. 2, 2004, pp. 127–140.
[31] Kebria, P., Abazari, M. R., and Abdi, H., Simmechanics Model Development for Gantry-Tau Robot.
[32] Craig, J. J., Introduction to Robotics: Mechanics and Control, Pearson Prentice Hall, Upper Saddle River, Vol. 3, 2005.