Dynamics and control of variable geometry truss manipulator

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• 作者：Xiaofeng Liu ; Qisuai Wang ; Haiquan Li ; Guoping Cai
• 关键词：variable geometry truss manipulator (VGTM) ; double ; octahedral truss unit ; 3 ; revolute ; prismatic ; spherical (3 ; RPS) parallel manipulator ; dynamic modeling ; active control
• 刊名：Applied Mathematics and Mechanics
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：38
• 期：2
• 页码：243-262
• 全文大小：
• 刊物类别：Mathematics and Statistics
• 刊物主题：Applications of Mathematics; Classical Mechanics; Mathematical Modeling and Industrial Mathematics;
• 出版者：Shanghai University
• ISSN：1573-2754
• 卷排序：38

文摘

Variable geometry truss manipulator (VGTM) has potential to work in the future space applications, of which a dynamic model is important to dynamic analysis and control of the system. In this paper, an approach is presented to model the dynamic equations of a VGTM by independent variables, which consists of two double-octahedral truss units and a 3-revolute-prismatic-spherical (3-RPS) parallel manipulator. In this approach, the kinematic recursive relations of two adjacent bodies and geometric constrains are used to deduce the kinematic equations of the VGTM, and Jourdain’s velocity variation principle is adopted to establish the dynamic equations of the system. The validity of the proposed dynamic model is verified by comparison of numerical simulations with the software ADAMS. Besides, an active controller for trajectory tracking of the system is designed by the computed torque method. The effectiveness of the controller is numerically proved.