Dynamic Modeling of Double Segment Redundant Gough-Stewart Hybrid Manipulator based on the Principle of Virtual Work

This paper presents the dynamic modeling and analysis of a hyper-redundant manipulator with two Gough-Stewart platforms. Initially, the kinematic model of the manipulator is reviewed and used, since it acts as a base component for the subsequent dynamic modeling. Then, the virtual work approach is introduced to establish a foundation for the dynamic modeling of a single Gough-Stewart platform. This modeling for a single segment is used to form the equation of motion for both segments. However, the external forces applied to the lower Gough-Stewart robot are different from the upper one, since the force and masses in the upper platform act on the lower one. By considering these effects on the lower platform, the dynamic equations for the whole have been formed and presented. The accuracy of the proposed model is validated through a detailed comparison with simulations performed using a Simscape environment. Notable challenges in aligning the results between the model and simulations are discussed, highlighting the complexities involved in ensuring consistency across different platforms. The comparisons show an average error of 1.537 percent per actuator.