Dynamic Analysis of the Spherical Part of the Parallel Manipulator Taking into Account the Control Law

被引：1
|
作者：
Nosova N.Y. [1 ,4 ]
Kheilo S.V. [2 ]
Glazunov V.A. [1 ]
Tsar’kov A.V. [3 ]
机构：
[1] Mechanical Engineering Research Institute, Russian Academy of Sciences, Moscow
[2] Russian State University (Technology, Design, Art), Moscow
[3] Kaluga Branch, Moscow State Technical University, Kaluga
[4] National Research Nuckear University MEPhI (Moscow Engineering Physics Institute), Moscow
来源：
Journal of Machinery Manufacture and Reliability | 2018年 / 47卷 / 03期
基金：
俄罗斯基础研究基金会;
关键词：
Spheres - Degrees of freedom (mechanics) - Inverse problems;
D O I：
10.3103/S1052618818030111
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
A parallel manipulator with six degrees of freedom is considered. A dynamic model for the spherical part of the manipulator is presented. Dynamic analysis is carried out. The real laws of motion of the output link of the spherical part of the manipulator are determined by the screw theory method based on solution of the inverse dynamic problem and the direct velocity problem. The effect of the initial conditions and feedback coefficients on the error of the real law of motion of the output link is analyzed. © 2018, Allerton Press, Inc.
引用
收藏
页码：205 / 212
页数：7
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