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Dynamic Modelling Approaches for a 3-PPR Planar Parallel Manipulator

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Advancements in Automation, Robotics and Sensing (ICAARS 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 627))

Abstract

This paper proposes two dynamic modelling approaches for a planar parallel manipulator with a 3-PPR configuration. The planar configuration has three legs each with a Prismatic-Prismatic-Revolute [PPR] configuration where the first joint is actuated. These three legs are joined by an end-effector which is in the form of an equilateral triangle. The dynamics of the manipulator was derived using an energy based Euler-Lagrangian approach and the DeNOC (Decoupled Natural Orthogonal Complement) matrices. Both the formulations are elucidated and the resulting formulation are compared under similar conditions to validate them.

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Author information

Authors and Affiliations

  1. Indian Institute of Technology – Delhi, New Delhi, India

    Vinoth Venkatesan & Subir Kumar Saha

  2. Indian Institute of Technology – Indore, Indore, India

    Jayant Kumar Mohanta & Mohan Santhakumar

Authors
  1. Vinoth Venkatesan
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  2. Jayant Kumar Mohanta
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  3. Subir Kumar Saha
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  4. Mohan Santhakumar
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Corresponding author

Correspondence to Subir Kumar Saha .

Editor information

Editors and Affiliations

  1. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    B Vinod

  2. College of Technology, Purdue University, Lafayette, Indiana, USA

    Richard Voyles

  3. Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

  4. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    M. Sundaram

  5. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    K S Sujatha

  6. Department of Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    J Joe Brislin

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© 2016 Springer Nature Singapore Pte Ltd.

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Venkatesan, V., Mohanta, J.K., Saha, S.K., Santhakumar, M. (2016). Dynamic Modelling Approaches for a 3-PPR Planar Parallel Manipulator. In: Vinod, B., Voyles, R., Vadakkepat, P., Sundaram, M., Sujatha, K., Brislin, J. (eds) Advancements in Automation, Robotics and Sensing. ICAARS 2016. Communications in Computer and Information Science, vol 627. Springer, Singapore. https://doi.org/10.1007/978-981-10-2845-8_4

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  • DOI: https://doi.org/10.1007/978-981-10-2845-8_4

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2844-1

  • Online ISBN: 978-981-10-2845-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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