Dynamic Modeling of the RPC-Manipulator with Prismatic or Revolute Joint Actuation for Different Frame Configurations

被引：0
|
作者：
Prause, Isabel [1 ]
Corves, Burkhard [1 ]
机构：
[1] Univ Aachen, Dept Mech Theory & Dynam Machines, D-52072 Aachen, Germany
来源：
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2015年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
As a result of high precision and excellent dynamic properties parallel kinematic machines (PKM) are particularly suited for high-speed and high-accuracy object handling. To optimize the design of such PKM, only kinetostatic analysis is not sufficient. Additionally, dynamic properties should be taken into account. Hence, this research develops the dynamic model for a class of translational 3-RPC-manipulators with either pure prismatic joint or pure revolute joint actuation. For a given task the dynamic performance is compared to results of the kinetostatic analysis. Hence, it is shown that the dynamic properties highly influence the performance of the RPC-structure.
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页码：4105 / 4112
页数：8
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