The New Method of Static Modeling and Simlink Simulation for Delta Parallel Mechanism

被引：0
|
作者：
Wang, Wenjie [1 ]
Yu, Lingtao
Zhang, Baoyu [1 ]
Wang, Tao [1 ]
Song, Huajian [2 ]
Zhuang, Zhongping [1 ]
机构：
[1] Harbin Engn Univ, Coll Mech & Elect Engn, Harbin, Heilongjiang Pr, Peoples R China
[2] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150006, Heilongjiang Pr, Peoples R China
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014) | 2014年
关键词：
static modeling; parallel mechanism; Delta; Simulink/SimMechanics simulation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Based on taking the gravity of every link into account and static analysis of every link, the complete and accurate static model of Delta parallel mechanism was set up. This model can precisely deduce the relationship between driving torque and the output force of moving platform at random poses. Then, a simulation model of Delta parallel mechanism was set up by using SimMechanics and Simulink blocks from Matlab. The simulation was carried out under the condition of different poses of moving plat and different output force acted on moving plat. Through the simulation, the validity of this static model was verified adequately.
引用
收藏
页码：680 / 685
页数：6
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