Research On The Universal Force-sensing Model For 3-DOF Translational Parallel Manipulator

Currently, the force-sensing technology of manipulator has been a crucial factor influencing reliability and working effect of the master-slave teleoperation robot. Compared with the visual telepresence and the aural telepresence, the force feedback telepresence has developed slowly because Researches on the force-sensing technology of manipulator are quite little. Therefore, conducting researches on the force feedback algorithm and the universal force-sensing model of manipulator will play a positive role in promoting the telepresence technology and the master-slave teleoperation robot.In our article, combined with the demostic and foreign research status of the force feedback technology,taking 3-RUU parallel manipulator for a case,the static algorithm and the dynamic algorithm of 3-RUU robot have been established respectively by taking self-gravity of every link into account. In addition based on the physical meaning analysis of every part in the static algorithm of 3-RUU robot, A new asymmetrical mass distribution method on the analysis of the universal force-sensing model for 3-DOF translational parallel manipulator has been put forward. And the gravity influence coefficient matrix of every active link and every passive link of 3-RUU robot can be obtained. The working content can be described as following:Firstly, based on the analytical mechanics theory, through the force (torques) analysis of every part of 3-RUU manipulator, the static force-sensing model can be derived when the velocity of the robot is quite little. And, through using ADAMS software, the static simulation can verify the correctness of the static algorithm of 3-RUU robot. In order to taking the joint friction into account, through the static simulation by taking the joint friction into account, the torque errors of the active joints can be obtained in the helix trajectory.Secondly, based on the kinetic equations in general and Lagrange equation, the dynamic force-sensing model of 3-RUU robot can be derived, which has been verified by using ADAMS software. In addition, the torque errors between the static force feedback algorithm and the dynamic force-sensing algorithm can be obtained in a given trajectory of the robot.Thirdly, through the physical meaning analysis of every part in the static force-sensing algorithm of 3-RUU robot, a new asymmetrical mass distribution method on the analysis of the universal force-sensing model for 3-DOF translational parallel manipulator can be put forward. Since the universal force-sensing algorithm has relationship with the structural parameters of the robot and has nothing with the joint connection, the universal force-sensing algorithm can be applicable to other similar parallel robot.In addition, the force feedback experiment on a parallel manipulator similar to the Omega.3 robot can verify the correctness of the universal force-sensing algorithm. And, the simulation on the Delta. 3 robot can verify the universal force-sensing algorithm can be applicable to Delta.3 robot.