A novel dynamic modelling approach for parallel mechanisms analysis

被引：71
|
作者：
Staicu, Stefan
Zhang, Dan [1 ]
机构：
[1] Univ Ontario, Fac Engn & Appl Sci, Inst Technol, Toronto, ON, Canada
[2] Univ Politehn Bucuresti, Dept Mech, Bucharest, Romania
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2008年 / 24卷 / 01期
基金：
加拿大自然科学与工程研究理事会;
关键词：
recursive matrix method; dynamic model; parallel mechanism;
D O I：
10.1016/j.rcim.2006.09.001
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
A novel approach (recursive matrix method), which is used for kinematic and dynamic analysis of a 3-DOF parallel mechanism with revolute actuators, is established in this paper. The active links of the mechanism are actuated by three electric motors and have three independent motions. Knowing the evolution of movable platform, first we develop the positions, velocities and accelerations of all elements of the mechanism. An inverse dynamic problem is solved using the principle of virtual work. Finally, recursive relations and graphs for the torques of three actuators are determined. It showed the efficiency of the proposed method by the example. (c) 2006 Elsevier Ltd. All rights reserved.
引用
收藏
页码：167 / 172
页数：6
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