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<p>This work offers forward kinematics and dynamics models of a 2PRU-1PRS parallel manipulator. Such models can be very useful while designing multidirectional vibration test equipment which can simulate road disturbances. The work presented here is important for several reasons. First, an accurate and computationally efficient forward kinematics model of the system can eliminate the need for sensors and all other associated hardware required for tracking the vibrating platform. Second, a reliable forward dynamics model allows for simulation of the control mechanism of the system, without relying on expensive and proprietary commercial software. Sans its availability, the overall control architecture of the system requires a “block” developed in commercial software environment to mimic the system’s forward dynamics in simulations. Having a reliable forward dynamics model eliminates the need for such expensive software. Finally, our forward dynamic model can also be used to develop model-based controllers for trajectory tracking applications. In context of the forward kinematics model which has been experimentally validated, we present corresponding nonlinear simultaneous equations which relate actuator displacements with the pose of the vibration table. These relations are numerically solved via a special scheme which provides accurate initial guesses, thereby ensuring fast convergence. Our forward dynamics model utilizes the Euler–Lagrange approach in a way which is computationally faster vis-a-vis methods used earlier for systems with similar complexity. Our models have been duly validated against simulations carried out in <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(\text {ADAMS}^{\text {TM}}\)</EquationSource> <EquationSource Format="MATHML"><math> <msup> <mtext>ADAMS</mtext> <mtext>TM</mtext> </msup> </math></EquationSource> </InlineEquation>.</p>

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Forward kinematics and dynamics modeling of a 2PRU-1PRS parallel manipulator

  • 期刊论文

  • 发表日期：

    2025年11月14日

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  • Anubhav Mishra,
  • Pawan Kumar,
  • Partho Ghosh,
  • Nachiketa Tiwari

摘要

This work offers forward kinematics and dynamics models of a 2PRU-1PRS parallel manipulator. Such models can be very useful while designing multidirectional vibration test equipment which can simulate road disturbances. The work presented here is important for several reasons. First, an accurate and computationally efficient forward kinematics model of the system can eliminate the need for sensors and all other associated hardware required for tracking the vibrating platform. Second, a reliable forward dynamics model allows for simulation of the control mechanism of the system, without relying on expensive and proprietary commercial software. Sans its availability, the overall control architecture of the system requires a “block” developed in commercial software environment to mimic the system’s forward dynamics in simulations. Having a reliable forward dynamics model eliminates the need for such expensive software. Finally, our forward dynamic model can also be used to develop model-based controllers for trajectory tracking applications. In context of the forward kinematics model which has been experimentally validated, we present corresponding nonlinear simultaneous equations which relate actuator displacements with the pose of the vibration table. These relations are numerically solved via a special scheme which provides accurate initial guesses, thereby ensuring fast convergence. Our forward dynamics model utilizes the Euler–Lagrange approach in a way which is computationally faster vis-a-vis methods used earlier for systems with similar complexity. Our models have been duly validated against simulations carried out in \(\text {ADAMS}^{\text {TM}}\) ADAMS TM .