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 p...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 ap- proach, 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 varia- tion 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 numer- ically proved.展开更多
基金Project supported by the National Natural Science Foundation of China(Nos.11132001,11272202,and 11472171)the Key Scientific Project of Shanghai Municipal Education Commission(No.14ZZ021)the Natural Science Foundation of Shanghai(No.14ZR1421000)
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 ap- proach, 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 varia- tion 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 numer- ically proved.
