Research On Identifying Inertial Parameters Of 6-SPR Parallel Mechanism

The needs of new methods for robot inertial parameters identifying and robot dynamics modeling have become one of the research directions and one of the main contents in the robot technology. To the series robot, basing on the analysis of kinematics and dynamics, the inertial parameters could be identified through using the force/torque sensor output signal on driver joints or the base.Because of the highly complexity and coupling, and other characteristics in parallel robot bodies, currently the researches for the inertial parameters identifying and dynamic responding of parallel mechanisms still are needed to study in depth. This paper summarized the situation of studying in parallel mechanisms at home and abroad. Aimed to establish the dynamics modeling equation for identifying the inertial parameters, a method for kinematics analysis of the 6-SPR parallel mechanism was proposed. First the special positions of each component in each branch were got through the way of seeing each branch as an independent series mechanism, in order to construct the influence coefficient matrixes. With 6-SPR parallel mechanism characteristics, the coordinates for the center of mass was separated from the matrixes with some simplifications properly. Then the motions of components can be linked linearly with its barycentric coordinates, which are only unknown.Finally the driving joint force could be showed with the equations in which each unknown inertial parameters appeared independently, providing the theoretical basis for identifying the inertial parameters through the force/torque seniors' information on drive joints. The rationality of this method was showed by comparing the results of kinematics between the theoretical calculations and the simulatation by the ADAMS software.