Modeling and Simulation of Spatial6-DOF Parallel Robots Using Simulink and

SimMechanics

Chifu Yang*, Zhengmao Ye, O.Ogbobe Peter, Junwei Han

Dept. Mechanical and Electrical Engineering
Harbin Institute of Technology, HIT
Harbin, China
ycfl008@163.com

parallel robots [5-7]. Mer1et [8] discussed the dynamics

under the assumption that leg inertia and friction are
negligible. Do et al. [9] presented Newton-Euler approach
for parallel robots with frictionless joints and asymmetrical
legs. Geng et al. [10] applied Lagrangian method to
formulate the dynamic equations under simplifYing
assumptions of the geometry and inertia distribution of the
robots. With respect to the completely spatial six-DOF
parallel robots, Dasgupta et al. [11] derived the closed-form
dynamic equations for parallel robots using Newton-Euler
method. Yet, all the internal constraint forces and moments
between links are required to calculate in the Newton-Euler
approach. Lebret et al. [12] developed the Lagrangian
equations for dynamics of special and simple robots, but
numerous symbolic computation of the Lagrangian method
is time-consuming. Abdellatif et al. [13] readdressed the
derivation of explicitly and efficiently inverse dynamic
equations by Lagrangian formalism and an own set of
generalized coordinates and velocities without simplification.
Additionally, Gallardo et al. [14] described a new approach,
screws theory and principle of virtual work, to obtain the
dynamic equations of parallel robots. Although the above
mentioned methods can be used to get the inverse and
forward dynamic equations of parallel robots, the equations
are very complex due to the undesired computation of inner
forces involving in the equations, and the computer model of
SPR based on the mentioned approaches also are not
obtained, described and discussed.
The complete SPR is viewed as thirteen rigid bodies, and
the Kane method, combination of the advantages of Newton
Euler and Lagrange approaches, is utilized to obtaining the
dynamic equations of SPR. The Simulink is applied to build
the computer model of SPR according to the equations. For
validation of the computer model and the dynamic equations,
SimMechanics is adopted to establish the computer model of
SPR. The contribution of this paper is to derive the dynamics
equations of SPR and to verify the computer model under a
developed controller by computer simulation.

Abstract-This paper addressed the dynamics and control for

completely spatial 6-DOF parallel robots (SPR) in computer.
The complex dynamic equations are derived via using Kane
methods, and a typical PID controller is developed for spatial
6-DOF parallel robots. Making use of the software of Simulink,
the computer model of SPR is built in terms of the dynamic
equations of SPR, and the simulation is realized for SPR under
PID controller in Simulink. The computer model of SPR is also
established with SimMechanics to confirm the computer model
in Simulink, according to the physical relationship of SPR. The
simulation results demonstrate that the computer model of
SPR in Simulink is correct, and the two methods of computer
modeling are effective for SPR and other mechanical systems,
especially the SimMechanics like ADAMS.

Keywords-computer modeling; parallel robots; dynamics;

control; Kane method; simulation
1.

INTRODUCTION

Parallel robots have been extensively studied due to its

higher force-to-weight, higher stiffness and accuracy and
lower inertia, compared with serial robots [1-3]. Spatial six
DOF linearly actuated parallel robots, an octahedral structure
with identical actuators, have widespread applied in various
fields such as high fidelity simulators, spacecraft-mounted
system, spherical radio telescopes, and machine tools [4].
The dynamic model of spatial parallel robots is essential and
fundamental for configuration design and designing of high
performance control scheme in which the dynamic properties
are considered. Some advanced dynamical theorems for rigid
body have been used for investigating spatial 6-DOF parallel
robots. Yet, the dynamic equations are not straightforward.
On the other hand, the model verification of dynamics may
not be carried out elaborately without computer model. The
Simulink, an effective computer modeling method for spatial
6-DOF parallel robots, can build the computer model of SPR
according to the complex dynamic equations; it can be used
to readily do the configuration design, the desired dynamic
analysis, and to verifY the dynamic equations by comparing
with other computer model established in terms of physical
relationship. Hence, it is very important and significant for
deriving the dynamic equations of complete SPR and getting
its computer model.
For spatia1 6-DOF parallel robots, many researchers have
provided various methods to investigate the characteristics of

II.

DYNAMICS AND CONTROL

A. Dynamic Equations
Spatial 6-DOF parallel robots are configured with a
moving platform and fixed base connected by six identical
legs in parallel, illustrated in Fig.l.

978-1-4244-5540-9/10/$26.00 2010 IEEE

111

913x3 is inertia matrix of the moving

T
platform, Ip ==RI: R .
2) Generalized Active F orce: The generalized active

in inertial frame, Ip

force of SPR can be expressed as

where Fa E 916

is the leg output forces,

(10)
is gravity

term, given by
Figure 1.

T
G ==[mpg T 01 ] +Jai,qT(Jaci,aiTma+Jbci,aiTmb)g
x3

Spatia16-DOF paralle robots

In (9), the Jacobian matrix between generalized velocity

The OB-XbYBZB is body coordinate system fixed to the

moving platform, and the origin OB is the center of mass of
the moving platform The OL-XLYLZL is the inertial coordinate
system. OL and OB are the same point in initial pose of SPR.
1) Generalized Inertial F orce: Only one leg of the SPR
should be taken into account for derving dynamic equations,
since the legs of SPR are identical. The inertial forces of leg
resulted from linear motions are described as

Jai,;/(Jaci,a/ mavaci+Jbci,a/ mbvbcJ==F,vi

and leg velocity

(1)

(12)

] [ ]

0 .:.:. 0
(F' vi+F'ai) ==Factive
q
q
+
+
wIp
Ip
,l

m I3x3

(13)

The dynamic equation (13) can be rewritten in standard

form.

. .
..
M (q)q+C(qJj)q- G(q) ==J"qT Fa

matrices.

(2)
where

In the inertial coordinate system, the inertial force of leg

stemmed from rotation is formulated as

terms,

Jai,/ Jwi,a/ ((1ai+Ibi)m /i+OJ/i x(1ai+Ibi)OJ/i)==F'ai (3)

where Jwi,ai E 913x3 is a Jacobian matrix, OJ/i E 913 is
angular velocity vector of leg in inertial frame, Iai,Ibi are

is a 6x6 mass matrix,

is a 6x6 centrifugal

generalized velocity of the moving platform,

M(q)==

(4)
Iai ==R,I: R/ ==I'/n lnJn/+I:y(1- lnJn/)
b - I I T)
(5)
Ibi ==R,IbbR,T ==Ibbx lniIniT +Iby
(1 ni ni
OJ/i ==Jwi,aivai ==Jwi,aiJai,qq
(6)
where I: ,It E 913x3 are the center inertia matrices of rod
and cylinder of leg, Ini E 913 is unit leg vector, computed by
Ini ==(R a i+c-bi)/II Ra i+c-bi II
(7)

(14)

is generalized pose of the moving platform,

the inertia matrices of rod and cylinder in inertial frame.

I
il

mp 3X3

:1 ]+

q is

T T
q== [c OJ r .

T
JaCiai
,
' maJaCiai+
T
Jai,q Jbci,a/mbJbci,ai+
T
Jwi,ai (1a+Ib)Jwi,ai

(15)

0
C(q,q-) == 3X3

T Jaci,a/ma d(Jaci,aJai,q)/ dt+

+
T
6
Jbci,ai mb d(Jbci,aJai,q)/ dt
I
il
T (1ai+Ibi)d(Jwi,aJai,q)/ dt+
T
Jai,q Jwi,ai
Jwi,aJai,qq X (1ai+Ibi)Jwi,aJai,q
'

where ai, bi are the upper joint and lower joint coordinate,
respectively, c is the position vector of mass center of the
moving platform in inertial frame, R is a 3x3 rotation matrix,
referred in [15].
The inertial forces and moments of the moving platform
can be given as
(8)
mpc==Fp

Ipm+OJxIpOJ==Mp

66
J"q E 91 x is written as
T
J"q == [L/ (RAxLn) ]

Combining (1)-(12), the complete dynamic equations for

SPR may be derived by Kane method.

where ma. mb are the mass of rod and cylinder of leg, Vaci,
Vbci are the 3x1velocity vector of mass center of rod and
cylinder, Jai,q E 913x6 , Jaci,ai,Jbci,ai E 913x3 are Jacobian

vaci ==Jaci,aiJai,qq, vbci ==Jbci,aiJai,qq

(11)

Jq-

(9)

B.

where mp is the mass of the moving platform of SPR,

OJ is the 3x1 angular velocity vector of the moving platform

(16)

Control Design/or SPR

Although many advanced control schemes are proposed

for 6-DOF parallel robots, the classical PID controller is still

445

widely applied in real system, especially for large spatial 6DOF parallel robot. Since PID control has the advantages of
simpler algorithm, and easier to realization in real time than
other algorithms, as well as strong robustness. To study the
computer model of SPR built according to (14) in Simulink,
the typical PID control is developed to the SPR for simuation.
In joint-space, the control scheme for SPR is described as

u(t)=Kpe(t)+K[ je(t)dt+Kd de(t)/dt

(17)

The control schematic block is depicted in Fig. 2.

4(c) G

4(d) Jlq

Figure 4. Coefficemt matrices of dynamic equations in Simulink

Figure 2. Control block of classical PID for

In Fig.2, the

e des

is desired generalized pose,

desired leg displacement,

error e is defined by
III.

XI

In Fig. 4(a), the subsystems Mp(6x6), MI(6x6), and

Ma(6x6) are elaborately described in Fig.S(a)-(c).

SPR
x Ides

is the

is actual leg displacement. The

e(t) = XIdes - XI .

COMPUTER MODELING

5(b) MI

A. Computer Model in Simulink

-..__ ... __ .. _-

With (11 )-(16), the computer model of dynamics may be

built with Simulink for spatial six-DOF parallel robots. The
integrated computer model of SPR in Simulink is shown in
Fig. 3, and the coefficient matrices MO, CO , GO, and
JIq 0

5(c) Ma
Figure 5.

are given in Fig.3(a)-(d).

Figure 3. Computer model of

Subsystems of M in Simulink

In Fig. 4(b), the subsystems Cp(6x6), CI(6x6), and

Ca(6x6) are elaborately described in Fig.6(a)-(c).

SPR in Simulink
6(b) Ca

6(a) CI

Cp((l)
C.ntrifug.ol/Coriolisl.rm
lorupp.,pl.l1o,m.ndlo.d

6(c) Cp
-..- ... -- .. --

4(a) M

Figure 6.

Subsystems of C in Simulink

4(b) C
B.

Computer Model in SimMechanics

SimMechanics is one of the physical modeling methods,

encompassing the modeling and design of systems according
to basic physical principles. Unlink Simulink blocks, which
represent the mathematical operators, the components of
SimMechanics indicate the physical counterparts. The model

446

of SPR is constructed with SirnMechanics in terms of the

physical relationship of spatial 6-DOF parallel robots,
depicted in Fig. 6.

:1\ 1\ : 1\

0.1

::
c
0
:e
"'

Desired
Simulink
SimMech.

8.

Q)
>
'"
Q)
I

0.05

,,
,

-0.05
-0.1

,,
,

Time (5)

0.1

'0 0.05

c
0

"'
0
c.
;;;:

'0

c
0
.,
'iii
0
c.

'"
>-

B -0.05
0::
-0.1

Time (5)

Figure 7. Computer model of SPR in SimMechanics

Figure 8.

IV.

TABLE!.

Parameters

Value

Maximal/Maximal stroke of cylinder, lminl/max (m)

-0.37/0.37

Initial length of cylinder,10 (m)

1.830

Upper joint radius,Ru (m)

0.560

Lower joint radius,Rd (m)

1.200

26.48

Mass of rod,mh (Kg)

16.56

Moment of inertia of platform,Ix," Iyy, I" (Kg'm')

'iii
0
c.
Q)

Desired

e>
:J

(fJ

-- Simulink

0
-0.05
-0.1

Time (5)

Responses to the desired trajectories for the computer in

Simulink and SimMechanics

::

c
0
.,
'iii
0
c.
,.,
'"

(fJ

I :\"i;:f::f- iI\.. j
.J

.(l.D1

'

.(JO. '
.(J.03
-OM

r'

_____

Lool.Slmu'lnk

"-'

..

'..._/

: - : - h - :. J
-' \\ 1.J - - \ 7' L
' .i\;:f' V '
' ' 'V
0 .5

1.5
Time(s)

2.5

0.04

i \i\/1-- -'
I
I

0.03

:::

-I

_____

_____

--

;1

,r..

I,j

.(JO
.(J02 1\
-0.03
-0.04

(\
',..\\.J

:
\\"-- 1
V
I

0.5

_I
I

, Leg4-Slmulink
, Leg5-Slmulink

LOO6-::r
I::
_

,J:
I
:
: - iJ.'
Ji- 1

J.
I

1.5
Time(s)

\J _

- L \..
I

2.5

Figure 9. Comparison of leg displacements for computer model in

Simulink and SimMechanics under the same desired motions

21,21,39

As shown in Fig.8-9, the responses of the dynamic model

in Simulink are fully consistent with that in SimMechanics.
With implementation of the simulation in computer for SPR,
it can be drawn the conclusions that the integrated dynamic
equations of SPR based on Kane method are correct, and the
computer model built with these equations in Simulink is
proved. Moreover, the approaches of computer modeling are
not only effective and feasible to establish the model of SPR,
but also be adopted to get the computer model of all other
complex systems.

-- Simulink

--SimMech

Time (5)

"

.g

Desired

r ,

0.04

140

Mass of rod,ma (Kg)

It is assumed that the geometric and inertial parameters

of SPR are known. The control gains Kp, Kb Kd are tuned to
3.Se7, 0 and 0 in simulation, respectively, which result in
small steady-state error and excellent dynamic performance.
Under sin comments along six directions: surge (O.lm/1Hz),
sway (O.OSm/2Hz), heave (O.1m/3Hz), roll (Sdeg/lHz), pitch
(Sdeg/2Hz), and yaw (6deg/SHz), the trajectory tracking for
computer model of SPR in Simulink and SimMechanics are
shown in Fig. 8. The leg displacements for yaw (ldeg/lHz)
are illustrated in Fig. 9.

PARAMETERS OF PARALLEL ROBOTS

Mass of platform and payload,m" (Kg)

.g

SIMULATION RESULTS AND DISCCUSIONS

To verify the computer model of SPR under the dynamic

equation using Kane method, the typical PID control scheme
(17) is applied to the computer models of both Simulink and
SirnMechanics with identical parameters which summarized
in Table. 1. The fourth-order fifth-order Runge-Kutta method
is utilized to solve the dynamic equations. The sample time
is set to 2ms for both computer models.

::

Time (5)

Time (5)

447

V.

International Asia Conference on Informatics in Control,Automation,

and Robotics (CAR'09),Tailand, IEEE Press, Feb. 2009,pp. 81-84.

CONCLUSIONS

In this paper, the computer modeling is studied for spatial

6-DOF parallel robots. The integrated dynamic equations are
derived for the SPR using Kane approach. According to the
dynamic equations, the computer model of SPR is built with
the software of Simulink. On the other hand, the computer
model of the SPR is established with SimMechanics in terms
of the physical relationship of SPR. Under a classical PID
controller, the simulation is executed for the computer
models of Simulink and SimMechanics with the same
conditions. The computer model of SPR in Simulink is
proved, and the dynamic equations based on Kane method
are validated. The computer model of SPR can be used for
configuration design and analysis; dynamic property analysis,
simulation of control system and its performance evaluation
Moreover, the computer modeling methods proposed in this
paper are effective and feasible to establish computer model
of SPR and other complex systems.
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