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Dynamic Simulation of a Tripod Based in Boltzmann-Hamel Equations

[+] Author Affiliations
Oscar Altuzarra, Constantino Roldan-Paraponiaris, Charles Pinto

University of the Basque Country UPV/EHU, Bilbao, Spain

Francisco Campa Gomez

Ingeniaritza Goi Eskola Teknikoa, Bilbao, Spain

Paper No. DETC2015-47427, pp. V05CT08A022; 10 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


In this paper, authors show the results of performance simulation of a 3PRS lower-mobility parallel manipulator actuated by electronic devices. The simulation includes a mechatronic model of the actuators, the dynamic response of the mechanism found using the Boltzmann-Hamel equations, and a model of the control. The dynamics of the actuators is modelled using two transfer functions found by means of a test based identification method. Authors find the explicit Dynamic equations needed for simulation using analytical mechanics. Lagrange equations are convenient and systematic in open-loop serial kinematic chains. However, for closed-loop mechanisms are cumbersome, even with the help of Lagrange multipliers. Moreover, if spatial rotations are involved, generalized coordinates are very much coupled in the expressions of Lagrange functions to be differentiated. Boltzmann-Hamel equations come to help in this regard. By using Simulink, authors could evaluate the stability of the control and the bandwidth of the manipulator.

Copyright © 2015 by ASME
Topics: Simulation



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