Modular Modeling Methodology applied to kinematically redundant parallel mechanisms

Abstract

The Modular Modeling Methodology (MMM) is a general approach, applicable for holonomic or nonholonomic multibody systems, which allows the integrated use of libraries of already available mathematical models along with general-purpose computational tools. This paper extends the application of the Modular Modeling Methodology to kinematically redundant parallel mechanisms and identifies its relevant advantages for the derivation of inverse dynamics models. A planar kinematically redundant parallel manipulator is adopted for illustrating the application of the proposed approach. Four representative trajectories were selected for the trajectory planning and metrics were proposed to evaluate the proximity to singularities and reduce energy consumption. To this end, two distinct strategies are implemented and their differences are discussed. In comparison with previously proposed structures, the analyzed mechanism demonstrates relative advantages in terms of weight and simplicity. The achieved long distant paths by the end-effector and the singularity-free path with low energy consumption carry practical significance, opening possibilities for enhanced performance and efficiency in practical applications. In this scenario, this study contributes to the field of dynamic analysis and trajectory planning for parallel mechanisms. © 2024 Elsevier Ltd