UNCERTAINTIES OF KINEMATIC AND DYNAMIC MODEL OF REDUNDANTLY ACTUATED PARALLEL MECHANISMS

被引：0
|
作者：
Prochazka, F. [1 ]
Valasek, M. [1 ]
机构：
[1] Czech Tech Univ, Fac Mech Engn, Dept Mech Biomech & Mechatron, Tech 4, Prague 16607 6, Czech Republic
来源：
ENGINEERING MECHANICS 2020 (IM2020) | 2020年
关键词：
Parallel kinematics; Redundant actuation; Model uncertainties; Forward kinematics;
D O I：
10.21495/5896-3-420
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The paper deals with modeling of redundantly actuated parallel mechanisms. A calculation method how to obtain a quantitative information about kinematic and dynamic model accuracy is presented. This method is based on utilization uncertain model parameters such as geometric and dynamic parameters with bounded deviations. The proposed method is tested on the parallel redundantly actuated planar 4RRR mechanism "Crosshead". Finally obtained results are discussed.
引用
收藏
页码：420 / 423
页数：4
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