Exploring the Kinematics and Kinetics of the novel CT-3RPRS Robot

Document Type : Research Article

Authors

Faculty of Mechanical Engineering, University of Guilan, Rasht, Iran

Abstract

This paper comprehensively investigates the dynamic modeling and simulation of the conjoined twins 3RPRS (CT-3RPRS) robot, an advanced parallel spatial mechanism distinguished by its kinematic efficiency, structural rigidity, and expansive accessible workspace. The CT-3RPRS robot is equipped with six actuators, comprising three prismatic and three revolute actuators, which contribute to its unique structure, enabling precise control over its constrained kinematic chains. To thoroughly analyze the robot's kinematics and kinetics, the Jacobian matrix and Lagrange multipliers are employed, respectively, to resolve reaction forces and moments inherent to closed-loop topologies. Motion equations are systematically derived using dual methodologies: the Euler-Lagrange formulation, which accounts for energy-based dynamics, and the principle of virtual work, which ensures equilibrium under non-conservative forces. These equations are subsequently verified to ensure their equivalence. The comprehensive modeling processes are rigorously validated through MATLAB simulations, providing a robust framework for analysis. Additionally, the results obtained from MATLAB are corroborated using SimScape, further confirming the accuracy and reliability of the dynamic models. This study highlights the dynamic features of the CT-3RPRS robot as well as the effectiveness of the employed modeling techniques.

Keywords

Main Subjects

References

[1] J.-P. Merlet, Parallel robots, Springer Science & Business Media, Dordrecht, Netherlands, 2006.
[2] O. Gholami, B. Miripour Fard, Enhanced workspace through the conjoined twins modification of the Stewart platform, Mechanics Based Design of Structures and Machines,  (2024) 1-13.
[3] O. Gholami, B. Miripour Fard, Conjoined twins 3RPRS: a novel parallel spatial robot, Mechanics Based Design of Structures and Machines, 52(5) (2024) 2821-2840.
[4] S.P.S. Kumar, S. Bandyopadhyay, Forward kinematics of the 3-RPRS parallel manipulator using a geometric approach, in:  Machines, Mechanism and Robotics, Springer, 2019, pp. 159-169.
[5] A. Nag, S. Mohan, S. Bandyopadhyay, Forward kinematic analysis of the 3-RPRS parallel manipulator, Mechanism and Machine Theory, 116 (2017) 262-272.
[6] H. Simas, A. Dias, D. Martins, Kinematic Model for Eclipse and Eclipse-II Parallel Robot, in:  ABCM Symposium Series in Mechatronics, 2009, pp. 719-728.
[7] V. Venkatesan, Y. Singh, S. Mohan, Inverse kinematic solution of a 6-DOF (3-RPRS) parallel spatial manipulator, in:  Proceedings of the 3rd Joint International Conference on Multibody System, 2014.
[8] S. Mohan, B. Corves, Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator, Mechanical Sciences, 8(2) (2017) 235.
[9] Y. Li, Q. Xu, Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism, Robotica, 23(02) (2005) 219-229.
[10] G. Pond, J.A. Carretero, Architecture optimisation of three 3-RS variants for parallel kinematic machining, Robotics and Computer-Integrated Manufacturing, 25(1) (2009) 64-72.
[11] S. Staicu, Matrix modeling of inverse dynamics of spatial and planar parallel robots, Multibody System Dynamics, 27(2) (2012) 239-265.
[12] H. Tourajizadeh, O. Gholami, CLOSED LOOP NONLINEAR OPTIMAL CONTROL OF A 3PRS PARALLEL ROBOT, International Journal of Robotics and Automation, 36(2) (2021).
[13] R.N. Jazar, Advanced dynamics: rigid body, multibody, and aerospace applications, John Wiley & Sons, 2011.
[14] H. Baruh, Analytical dynamics, (No Title),  (1999).
[15] C. Liang, G.M. Lance, A differentiable null space method for constrained dynamic analysis, Journal of Mechanisms, Transmissions, and Automation in Design, 109(3) (1987) 405-411.
[16] L.-W. Tsai, Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work, J. Mech. Des., 122(1) (2000) 3-9.
AUT Journal of Mechanical Engineering
Volume 9, Issue 3
July 2025
Pages 265-280

Files

Share

How to cite

Statistics