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
相关论文
共 50 条
  • [31] Design, Modeling and Analysis of a Spherical Parallel Continuum Manipulator for Nursing Robots
    Gong, Zhenhua
    Ning, Chuanxin
    Liang, Jiejunyi
    Zhang, Ting
    2024 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2024), 2024, : 17431 - 17437
  • [32] Static Analysis and Design of a 3-DOF Spherical Parallel Manipulator
    Li, Y. B.
    Jin, Z. L.
    2008 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-5, 2008, : 666 - 669
  • [33] Stiffness Analysis and Optimization of a Co-axial Spherical Parallel Manipulator
    Wu, Guanglei
    MODELING IDENTIFICATION AND CONTROL, 2014, 35 (01) : 21 - 30
  • [34] DYNAMIC MODELING AND CONTROL OF THE OMEGA-3 PARALLEL MANIPULATOR
    Adetu, Collins F.
    Moore, Carl A., Jr.
    Roberts, Rodney G.
    2009 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC 2009), VOLS 1-9, 2009, : 3599 - +
  • [35] FORWARD DISPLACEMENT ANALYSIS OF A QUADRATIC SPHERICAL PARALLEL MANIPULATOR: THE AGILE EYE
    Kong, Xianwen
    Gosselin, Clement
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 7, PTS A AND B, 2010, : 1115 - 1121
  • [36] Forward Displacement Analysis of a Linearly Actuated Quadratic Spherical Parallel Manipulator
    Kong, Xianwen
    Gosselin, Clement
    Ritchie, James M.
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2011, 3 (01):
  • [37] Accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator
    Enferadi, Javad
    Tootoonchi, Alireza Akbarzadeh
    ROBOTICA, 2011, 29 : 193 - 209
  • [38] Design, Analysis, and Implementation of a 3-DOF Spherical Parallel Manipulator
    Djennane, Mohamed
    Chehaidia, Seif Eddine
    Yakoub, Chouiter
    Mesbah, Khawla
    Aljohani, Mansour
    Mosaad, Mohmed I.
    IEEE ACCESS, 2024, 12 : 52837 - 52850
  • [39] Dynamic modeling and active vibration control of flexible parallel manipulator
    Zhang, Quan
    Wang, Ruizhou
    Zhou, Liping
    Tan, Zhenzhen
    Sun, Zhijun
    Zhendong Ceshi Yu Zhenduan/Journal of Vibration, Measurement and Diagnosis, 2013, 33 (06): : 1025 - 1031
  • [40] Optimal haptic control of a redundant 3-RRR Spherical Parallel Manipulator
    Saafi, Houssem
    Laribi, Med Amine
    Zeghloul, Said
    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 2591 - 2596
12345