Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator

被引：4
|
作者：
Liu Shan-zeng [1 ]
Zhu Zhen-cai [1 ]
Sun Zhao-peng [1 ]
Cao Guo-hua [1 ]
机构：
[1] China Univ Min & Technol, Sch Mech & Elect Engn, Xuzhou 221116, Peoples R China
来源：
JOURNAL OF CENTRAL SOUTH UNIVERSITY | 2014年 / 21卷 / 07期
关键词：
kinematics; dynamics; parallel manipulator; Lagrange formula; MECHANISMS;
D O I：
10.1007/s11771-014-2227-6
中图分类号：
TF [冶金工业];
学科分类号：
0806 ;
摘要：
Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair (3-RRC) parallel manipulator. This 3-RRC parallel manipulator is composed of a moving platform, a base platform, and three revolute joint-revolute joint-column pair chains which connect the moving platform and the base platform. Firstly, kinematics analysis for 3-RRC parallel manipulator was conducted. Next, on the basis of Lagrange formula, a simply-structured dynamic model of 3-RRC parallel manipulator was derived. Finally, through a calculation example, the variation of motorial parameters of this 3-RRC parallel manipulator, equivalent moment of inertia, driving force/torque and energy consumption was discussed. The research findings have important significance for research and engineering projects such as analyzing dynamic features, mechanism optimization design and control of 3-RRC parallel manipulator.
引用
收藏
页码：2660 / 2666
页数：7
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