Analysis of coupling effects on hydraulic controlled 6 degrees of freedom parallel manipulator
1 Department of Information and Communication Technology, National Board for Technology Incubation, Abuja, Nigeria.
2 Department of Science and Technical Education, Federal Ministry of Education, Abuja, Nigeria.
Research Article
Global Journal of Engineering and Technology Advances, 2022, 10(03), 026–031.
Article DOI: 10.30574/gjeta.2022.10.3.0051
Publication history:
Received on 09 February 2022; revised on 12 March 2022; accepted on 14 March 2022
Abstract:
This paper presents an analysis of the coupling effects between degrees of freedom of a hydraulic controlled six DOF parallel manipulator. Based on the singular value decomposition to the properties of its joint space inverse mass matrix, the method is put forward to analyze coupling effects between degrees of freedom using a transformation matrix, the product of transposed Jabobian matrix and an orthogonal unitary matrix, of which each element represents decoupled modal space coordinates with respect to physical task space frame. The simulation results in frequency domain prove the theoretical analysis right. The analysis will provide useful information to mechanism and controller designer, to asses from concept the coupling effects between DOF in respect of the requirement for a particular application and also for the study on decoupling control strategies.
Keywords:
6 Degrees of freedom; Parallel manipulator; Singular value decomposition; Coupling effects; Orthogonal unitary matrix
Full text article in PDF:
Copyright information:
Copyright © 2022 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution Liscense 4.0