Coordinative dynamics analysis of a parallel manipulator with three grippers

被引：0
|
作者：
机构：
[1] [1,Lu, Yi
[2] Wang, Peng
[3] Hou, Zhuolei
[4] Bo, Hu
[5] Sui, Chunping
[6] Han, Jianda
来源：
| 1600年 / Acta Press, Building B6, Suite 101, 2509 Dieppe Avenue S.W., Calgary, AB, T3E 7J9, Canada卷 / 29期
关键词：
A kinetostatic model and a dynamics model of a parallel manipulator (PM) with three grippers are established and analyzed in the light of its application. First; the coordinative kinematics of this manipulator and three grippers are analyzed. Second; the kinetostatic formulae are derived for transforming the coordinative kinematics and forces applied on the grippers into the workloads applied on the moving platform and the active/constrained forces and torques applied onto active legs. Third; the dynamics formulae are derived for solving dynamic active wrench of grippers and PM by considering inertial mass of the grippers; legs and platform. Finally; a numerical example is given for illustrating application of kinetostatic model and dynamics formulae; and the dynamics solutions of this manipulator are verified by simulation;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Journal article (JA)
引用
收藏
相关论文
共 50 条
  • [41] Kinematics Performance and Dynamics Analysis of a Novel Parallel Perfusion Manipulator with Passive Link
    Yang, Hui
    Fang, Hairong
    Fang, Yuefa
    Qu, Haibo
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2018, 2018
  • [42] Parallel grippers need no adjustment
    不详
    HYDRAULICS & PNEUMATICS, 1997, 50 (01) : 20 - 20
  • [43] Alternative grippers for the Assistive Robotic Manipulator (ARM)
    Römer, G
    Stuyt, H
    Kramer, G
    O'Callaghan, M
    Scheffe, J
    2005 IEEE 9TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, 2005, : 473 - 476
  • [44] Inverse kinematics and rigid-body dynamics for a three rotational degrees of freedom parallel manipulator
    Zhao, Yongjie
    Qiu, Ke
    Wang, Shuangxi
    Zhang, Ziqiang
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2015, 31 : 40 - 50
  • [45] Inverse kinematics and rigid-body dynamics for a three rotational degrees of freedom parallel manipulator
    Department of Mechatronics Engineering, Shantou University, Shantou, Guangdong
    515063, China
    Rob Comput Integr Manuf, 1600, (40-50):
  • [46] Inverse kinematics and rigid-body dynamics for a three rotational degrees of freedom parallel manipulator
    Department of Mechatronics Engineering, Shantou University, Shantou, Guangdong 515063, China
    Rob Comput Integr Manuf, 1 (40-50):
  • [47] Mini-parallel grippers
    不详
    MANUFACTURING ENGINEERING, 2007, 138 (01): : 52 - 52
  • [48] Dynamics analysis of parallel three-phase converters
    Ye, ZH
    Boroyevich, D
    Lee, FC
    JOURNAL OF VIBRATION AND CONTROL, 2002, 8 (02) : 243 - 259
  • [49] ANALYSIS OF STATIC EQUILIBRIUM OF A PARALLEL MANIPULATOR
    PANG, HS
    SHAHINPOOR, M
    ROBOTICA, 1993, 11 : 433 - 443
  • [50] Stability analysis of a suspended parallel manipulator
    Zhang, H
    Ye, PQ
    Qi, L
    Wang, JS
    Wang, QM
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 1715 - 1719
12345