Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator

被引：14
|
作者：
Hu, Bo [1 ,2 ]
Zhang, Liandong [1 ,2 ]
Yu, Jingjing [1 ,2 ]
机构：
[1] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China
[2] Yanshan Univ, Minist Natl Educ, Key Lab Adv Forging & Stamping Technol & Sci, Qinhuangdao 066004, Hebei, Peoples R China
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2016年 / 30卷 / 11期
基金：
中国国家自然科学基金;
关键词：
Dynamics simulator; Serial-parallel manipulator; Kinematics; Dynamics; INVERSE DYNAMICS; MANIPULATOR; ROBOT; DESIGN;
D O I：
10.1007/s12206-016-1036-2
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed.
引用
收藏
页码：5183 / 5195
页数：13
相关论文
共 50 条
  • [1] Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator
    Bo Hu
    Liandong Zhang
    Jingjing Yu
    Journal of Mechanical Science and Technology, 2016, 30 : 5183 - 5195
  • [2] Kinematics Analysis of a High Dynamic Serial-Parallel Hybrid Flight Simulator
    Wang Xiaochen
    Chen Weishan
    2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, : 8667 - 8672
  • [3] Design and kinematics analysis of a novel serial-parallel kinematic machine
    Hu, Bo
    Li, Bo
    Cui, He
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2016, 230 (18) : 3331 - 3346
  • [4] Kinematics and Dynamics of a Hybrid Serial-Parallel Mobile Robot
    Moosavian, S. Ali A.
    Pourreza, Alireza
    Alipour, Khalil
    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, : 3580 - 3585
  • [5] Kinematics/statics analysis of a novel serial-parallel robotic arm with hand
    Yi Lu
    Zhuohong Dai
    Nijia Ye
    Peng Wang
    Journal of Mechanical Science and Technology, 2015, 29 : 4407 - 4416
  • [6] Kinematics/statics analysis of a novel serial-parallel robotic arm with hand
    Lu, Yi
    Dai, Zhuohong
    Ye, Nijia
    Wang, Peng
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2015, 29 (10) : 4407 - 4416
  • [7] The kinematics analysis of a novel 5-dof serial-parallel machine tool
    Gao Tie-Hong
    Qi Jiang-Bo
    Cao Jun-Yi
    Li Shi-Jie
    Progress of Machining Technology, Proceedings, 2006, : 61 - 64
  • [8] Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot
    Feller, David
    IEEE ACCESS, 2023, 11 : 100729 - 100754
  • [9] Kinematics of a serial-parallel micro-manipulator
    2001, Northwestern Polytechnical University (20):
  • [10] Novel serial-parallel multipliers
    Saleh, HI
    Khalil, AH
    Ashour, MA
    Salama, AE
    IEE PROCEEDINGS-CIRCUITS DEVICES AND SYSTEMS, 2001, 148 (04): : 183 - 189
12345