Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of <i>m</i> Local Closed-Loop Linkages Appended to an <i>n</i>-Link Serial Manipulator

Recently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynam...

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Main Authors: Anh My Chu, Cong Dinh Nguyen, Minh Hoan Vu, Xuan Bien Duong, Tien Anh Nguyen, Chi Hieu Le
Format: Article
Language:English
Published: MDPI AG 2020-04-01
Series:Applied Sciences
Subjects:
Online Access:https://www.mdpi.com/2076-3417/10/7/2567
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spelling doaj-d2aaeeced2644226852e8ba3959f943a2020-11-25T02:28:53ZengMDPI AGApplied Sciences2076-34172020-04-01102567256710.3390/app10072567Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of <i>m</i> Local Closed-Loop Linkages Appended to an <i>n</i>-Link Serial ManipulatorAnh My Chu0Cong Dinh Nguyen1Minh Hoan Vu2Xuan Bien Duong3Tien Anh Nguyen4Chi Hieu Le5Institute of Simulation Technology, Le Quy Don Technical University, Ha Noi 10000, VietnamInstitute of Simulation Technology, Le Quy Don Technical University, Ha Noi 10000, VietnamDepartment of Mechanical Engineering, Le Quy Don Technical University, Ha Noi 10000, VietnamDepartment of Aerospace, Le Quy Don Technical University, Ha Noi 10000, VietnamDepartment of Physics, Le Quy Don Technical University, Ha Noi 10000, VietnamFaculty of Engineering and Science, University of Greenwich, Kent ME4 4TB, UKRecently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynamic issues for individual hybrid robots rather than any generalization. Hence, in this paper, we present a novel method for kinematic and dynamic modelling for a class of hybrid robots. First, a generic scheme for the kinematic design of a general hybrid robot mechanism is proposed. In this manner, the kinematic equation and the constraint equations for the robot class are derived in a generalized case. Second, in order to simplify the dynamic modelling and analysis of the complex hybrid robots, a Lemma about the analytical relationship among the generalized velocities of a hybrid robot system is proven in a generalized case as well. Last, examples of the kinematic and dynamic modelling of a newly designed hybrid robot are presented to demonstrate and validate the proposed method.https://www.mdpi.com/2076-3417/10/7/2567Hybrid robotkinematic designdynamic modellinglocal-closed loopserial manipulator
collection DOAJ
language English
format Article
sources DOAJ
author Anh My Chu
Cong Dinh Nguyen
Minh Hoan Vu
Xuan Bien Duong
Tien Anh Nguyen
Chi Hieu Le
spellingShingle Anh My Chu
Cong Dinh Nguyen
Minh Hoan Vu
Xuan Bien Duong
Tien Anh Nguyen
Chi Hieu Le
Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of <i>m</i> Local Closed-Loop Linkages Appended to an <i>n</i>-Link Serial Manipulator
Applied Sciences
Hybrid robot
kinematic design
dynamic modelling
local-closed loop
serial manipulator
author_facet Anh My Chu
Cong Dinh Nguyen
Minh Hoan Vu
Xuan Bien Duong
Tien Anh Nguyen
Chi Hieu Le
author_sort Anh My Chu
title Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of <i>m</i> Local Closed-Loop Linkages Appended to an <i>n</i>-Link Serial Manipulator
title_short Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of <i>m</i> Local Closed-Loop Linkages Appended to an <i>n</i>-Link Serial Manipulator
title_full Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of <i>m</i> Local Closed-Loop Linkages Appended to an <i>n</i>-Link Serial Manipulator
title_fullStr Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of <i>m</i> Local Closed-Loop Linkages Appended to an <i>n</i>-Link Serial Manipulator
title_full_unstemmed Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of <i>m</i> Local Closed-Loop Linkages Appended to an <i>n</i>-Link Serial Manipulator
title_sort kinematic and dynamic modelling for a class of hybrid robots composed of <i>m</i> local closed-loop linkages appended to an <i>n</i>-link serial manipulator
publisher MDPI AG
series Applied Sciences
issn 2076-3417
publishDate 2020-04-01
description Recently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynamic issues for individual hybrid robots rather than any generalization. Hence, in this paper, we present a novel method for kinematic and dynamic modelling for a class of hybrid robots. First, a generic scheme for the kinematic design of a general hybrid robot mechanism is proposed. In this manner, the kinematic equation and the constraint equations for the robot class are derived in a generalized case. Second, in order to simplify the dynamic modelling and analysis of the complex hybrid robots, a Lemma about the analytical relationship among the generalized velocities of a hybrid robot system is proven in a generalized case as well. Last, examples of the kinematic and dynamic modelling of a newly designed hybrid robot are presented to demonstrate and validate the proposed method.
topic Hybrid robot
kinematic design
dynamic modelling
local-closed loop
serial manipulator
url https://www.mdpi.com/2076-3417/10/7/2567
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