Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator

•A closed-from mathematical model for dynamics of the Gantry-Tau is derived.•Kinematics of the Gantry-Tau is formulated and singular conditions are discussed.•Simulation studies are carried out to assess the performance of the proposed models. This paper deals with the mathematical modeling of kinem...

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Bibliographic Details
Published in:Applied Mathematical Modelling 2017-11, Vol.51, p.217-231
Main Authors: Arian, Alaleh, Danaei, Behzad, Abdi, Hamid, Nahavandi, Saeid
Format: Article
Language:English
Subjects:
Computing time
Dynamic analysis
Eulers equations
Inverse kinematics
Kinematic analysis
Kinematics
Manipulators
Mathematical analysis
Mathematical models
Matrix methods
Newton–Euler
Parallel degrees of freedom
Parallel manipulator
Robot arms
Robots
Stiffness
Studies
Velocity
Virtual work
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Summary:•A closed-from mathematical model for dynamics of the Gantry-Tau is derived.•Kinematics of the Gantry-Tau is formulated and singular conditions are discussed.•Simulation studies are carried out to assess the performance of the proposed models. This paper deals with the mathematical modeling of kinematics and dynamics of the 3-degrees-of-freedom Gantry-Tau manipulator. Compared to many other parallel robots, Gantry-Tau offers a large accessible workspace and high stiffness. The kinematics of Gantry-Tau is presented which includes inverse kinematics formulation for the position, velocity and acceleration of the mechanism. Also, based on the obtained Jacobin matrices, singular configurations of the robot are studied. Afterwards, the equations of the inverse dynamic model of the Gantry-Tau are obtained through two different methods, i.e., virtual work and Newton–Euler. Finally, a case study is performed to verify the correctness of the derived models and investigate their computational efficiency.
ISSN:0307-904X
1088-8691
0307-904X
DOI:10.1016/j.apm.2017.06.012