 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 13427 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8178
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| In English (Mech. Solids): | | 5249 |
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| Dong Liang, Zhiqiang Han, Boyan Chang, and Zhen Wang, "Refined Dynamic Modeling and Performance Evaluation of a Novel Large Loading SCARA Parallel Robot," Mech. Solids. 60 (6), 5361-5384 (2025) |
| Year |
2025 |
Volume |
60 |
Number |
6 |
Pages |
5361-5384 |
| DOI |
10.1134/S0025654425604021 |
| Title |
Refined Dynamic Modeling and Performance Evaluation of a Novel Large Loading SCARA Parallel Robot |
| Author(s) |
Dong Liang (School of Mechanical Engineering, Tiangong University, Tianjin, 300387 China; Tianjin Key Laboratory of Modern Electromechanical Equipment Technology, Tiangong University, Tianjin, 300387 China, dongliang@tiangong.edu.cn)
Zhiqiang Han (School of Mechanical Engineering, Tiangong University, Tianjin, 300387 China)
Boyan Chang (School of Mechanical Engineering, Tiangong University, Tianjin, 300387 China; Tianjin Key Laboratory of Modern Electromechanical Equipment Technology, Tiangong University, Tianjin, 300387 China)
Zhen Wang (Beijing Aerospace Guanghua Electronics Technology Limited Corporation, Beijing, 100854 China) |
| Abstract |
This paper concentrates on a SCARA parallel robot with two closed-loop substructures within any branch, aiming to establish its precise dynamic model and analyze its dynamic performance under the framework of screw theory. First, the configuration characteristics and mobility properties of this robot are analyzed in detail. Based on the inverse position solution, the visualization of the robot’s reachable workspace is achieved. Subsequently, utilizing the superposition principle of screw theory and the Lie screws method, the velocity and acceleration mappings between individual joints and the end-effector are constructed, and a complete dynamic model of system is established based on the principle of virtual work. To validate model accuracy, a physical simulation model is built using co-simulation between SolidWorks and Simscape for comparison. Introduction of error evaluation metrics reveals that: the maximum absolute error of the driving torque for each limb is less than 0.0123 N·m, the root mean squared error is less than 0.0067 N·m, and the mean relative error is below 0.47%, fully confirming the accuracy of the established dynamic model. Finally, fully considering the influence of inertial terms on driving torques, the dynamic performance of the robot is evaluated based on the Joint-reflected Inertia (JRI) index,Coefficient of Variation of joint-space Inertia (CVI) index and Dynamic Dexterity Index (DDI), laying a theoretical foundation for the subsequent integrated high-speed, high-stiffness design and prototype development of this robot in future. |
| Keywords |
Parallel robot, Spiral theory, Analysis of degrees of freedom, Dynamic model, Performance analysis |
| Received |
27 July 2025 | Revised |
24 September 2025 | Accepted |
28 September 2025 |
| Link to Fulltext |
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