Inverse Kinematics Analysis of a Novel Parallel Robot with Large Workspace

被引：0
|
作者：
Li, Liu [1 ]
机构：
[1] NE Forestry Univ, Coll Engn & Technol, Harbin 150040, Peoples R China
来源：
PROCEEDINGS OF 2010 INTERNATIONAL CONFERENCE ON LOGISTICS SYSTEMS AND INTELLIGENT MANAGEMENT, VOLS 1-3 | 2010年
关键词：
Parallel robot; Workspace; Dynamics;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A novel 6-PRRS parallel robot was developed which has the characteristics of movement rapidity and larger workspace. The mechanism structure of the 6-PRRS parallel robot is described in detail. Based on the strategy of simplifying the dynamic model a virtual work principle based Lagrange method is proposed to build the inverse dynamics of the 6-PRRS parallel robot. Experiments show that the proposed dynamic method is effective and feasible.
引用
收藏
页码：1259 / 1262
页数：4
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