Dynamics modelling of a Stewart-based hybrid parallel robot

被引：14
|
作者：
Staicu, Stefan [1 ]
机构：
[1] Univ Politehn Bucuresti, Dept Mech, Bucharest, Romania
来源：
ADVANCED ROBOTICS | 2015年 / 29卷 / 14期
关键词：
connectivity relations; dynamics; hybrid parallel robot; kinematics; KINEMATIC ANALYSIS; MANIPULATOR; MECHANISMS; INVERSE;
D O I：
10.1080/01691864.2015.1023219
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Matrix relations for kinematics and dynamics analysis of a spatial two-module Stewart-based hybrid parallel robot are established in this paper. Knowing the relative motions of two moving platforms, the inverse dynamics problem is solved based on a set of recursive explicit equations. Finally, compact results and graphs of simulation for the input forces and powers of all actuators are obtained.
引用
收藏
页码：929 / 938
页数：10
相关论文
共 50 条
  • [31] PEvoRNN: Extended CUDA-Based Hybrid Parallel Evolutionary Robot Controller
    Benalia, Nour El-Houda
    Djedi, NourEddine
    2017 5TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING - BOUMERDES (ICEE-B), 2017,
  • [32] Singular-Perturbation-Based Nonlinear Hybrid Control of Redundant Parallel Robot
    Sun, Tao
    Liang, Dong
    Song, Yimin
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2018, 65 (04) : 3326 - 3336
  • [33] Hybrid moment/position control of a parallel robot
    Mohamed El Hossine Daachi
    Brahim Achili
    Boubaker Daachi
    Yacine Amirat
    Djamel Chikouche
    International Journal of Control, Automation and Systems, 2012, 10 : 536 - 546
  • [34] Hybrid Moment/Position Control of a Parallel Robot
    Daachi, Mohamed El Hossine
    Achili, Brahim
    Daachi, Boubaker
    Amirat, Yacine
    Chikouche, Djamel
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2012, 10 (03) : 536 - 546
  • [35] Design and Kinematics of Serial/Parallel Hybrid Robot
    Yeshmukhametov, Azamat
    Kalimoldayev, Maksat
    Mamyrbayev, Orken
    Amirgaliev, Yedilhan
    2017 3RD INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR), 2017, : 162 - 165
  • [36] Inverse Dynamic and Control of a Hybrid Parallel Robot
    Rakhodaei, Hamid
    Saadat, Mozafar
    PROCEEDINGS OF THE ASME 12TH BIENNIAL CONFERENCE ON ENGINEERING SYSTEMS DESIGN AND ANALYSIS - 2014, VOL 3, 2014,
  • [37] A Study on the 6-6 Stewart Parallel Mechanism Dynamics in ADAMS
    Han Xing
    Li Chang
    Yu Xiaoguang
    Zhao Guangbing
    ADVANCES IN PRODUCT DEVELOPMENT AND RELIABILITY III, 2012, 544 : 67 - 71
  • [38] Dynamics Modeling of a Magnetic Spherical Joint Based Parallel Brain Surgery Robot
    Xiao, Xiao
    Ren, Hongliang
    2018 13TH ANNUAL IEEE INTERNATIONAL CONFERENCE ON NANO/MICRO ENGINEERED AND MOLECULAR SYSTEMS (NEMS 2018), 2018, : 19 - 23
  • [39] Kinematics modelling of a planar parallel robot with prismatic actuators
    Staicu, Stefan
    Carp-Ciocardia, Danielacrata
    Codoban, Alexandru
    UPB Scientific Bulletin, Series D: Mechanical Engineering, 2007, 69 (03): : 3 - 14
  • [40] Robot Swarms as Hybrid Systems: Modelling and Verification
    Schupp, Stefan
    Leofante, Francesco
    Behr, Leander
    Abraham, Erika
    Taccella, Armando
    ELECTRONIC PROCEEDINGS IN THEORETICAL COMPUTER SCIENCE, 2021, (361): : 61 - 77
12345