Dynamics analysis of 3-leg 6-DoF parallel manipulator with multi different-DoF finger mechanisms

被引：0
|
作者：
Yi Lu
Nijia Ye
Peng Wang
机构：
[1] Yanshan University,College of Mechanical Engineering
[2] Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education,Parallel Robot and Mechatronic System Laboratory of Hebei Province
来源：
Journal of Mechanical Science and Technology | 2016年 / 30卷
关键词：
Parallel manipulator with multi fingers; Composite active legs; Kinematics; Dynamics;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A dynamics of a 3-leg 6-DoF parallel manipulator with multi different-DoF fingers is studied systematically. First, the unified kinematics formulae of the parallel manipulator with multi different-DoF fingers are established for solving the velocity/acceleration of the moving links of parallel manipulator and finger mechanisms and the Jacobian/Hessian matrices. Second, their unified dynamics formulae are established for solving the dynamic input wrench of the parallel manipulator and the finger mechanisms. Third, the special kinematics/ dynamics formulae of a novel 6-DoF 3-UPS type parallel manipulator with three one-DoF finger mechanisms are derived for illustrating application of dynamics formulae. Finally, its analytic solutions are analyzed and verified by the simulation solutions.
引用
收藏
页码：1333 / 1342
页数：9
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