文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 1–17
ate/mechmt
Review
Identification of dynamic parameters of a 3-DOF RPS
parallel manipulator
Nidal Farhat a, Vicente Mata a,*,A´ lvaro Page b, Francisco Valero a
a Departamento de Ingenierı´a Meca´nica y de Materiales, Universidad ica de Valencia, C/Camino de Vera s/n, 46022 Valencia, Spain
b Departamento de Fı´sica Aplicada, Universidad ica de Valencia, C/Camino de Vera s/n, 46022 Valencia, Spain
Received 9 June 2006; received in revised form 7 November 2006; accepted 22 December 2006
Available online 22 February 2007
Abstract
In this paper, the dynamic parameters, both inertial and frictional, of a 3-DOF RPS parallel manipulator are identified
considering two important issues: the physical feasibility of the identified inertial parameters and the use of nonlinear fric-
tion models in the identification process in order to model the friction phenomenon at robot joints. The dynamic model of
the parallel manipulator is obtained starting from the Gibbs–Appell equations of motion along with the Gauss principle
of Least Action, and these equations of motion are rewritten in a/their linear form with respect to the inertial parameters of
the mechanical system. At this point, in accordance with the friction model considered, either linear or nonlinear, two types
of dynamic models are dealt with: the totally and the partially linear with respect to the parameters to be identified. In
order to solve the identification problem when nonlinear friction models are included, a nonlinear constrained optimiza-
tion problem will be formulated and solved, instead of the Least Square Method, which is valid only for linear identifica-
tion problems. It must be mentioned that the above-mentioned optimization problem will include the physical feasibility of
the identified parameters in its formulation. The proposed procedure will be verified against a virtual parallel manipu