Inverse dynamics of a novel 9-DOF hybrid manipulator using Kane's method
Paulo Victor Santos1; Max Suell Dutra1
1 COPPE-UFRJ
doi:10.20906/CPS/COB-2015-0370
Resumo
Nowadays the offshore cargo transfer is being treated as a promising technology. The biggest challenge in offshore cargo transfer is to control and stabilize the load. However, to test control strategies in a real scenario is dangerous. Thus, it is necessary the development of mechanisms that simulates the behavior of cranes that are fixed on float platforms like vessels and offshore platforms. This paper presents the equations of motion for a hybrid parallel-serial manipulator. This manipulator is composed by a modified SCARA robot coupled to a Stewart-Gough platform, which is designed to simulate a crane operating on a floating platform. This hybrid robot is considered as a nine degrees of freedom system composed of seventeen bodies. The equations of motion are obtained using the Kane's method. The inverse dynamics equations are derived and simulated. This work will allow the design of a serial manipulator to be attached to an already built Stewart-Gough platform.
Palavras-chave: Inverse Dynamics; Hybrid Manipulator; Kane formulation