Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator

被引：0
|
作者：
Shan-zeng Liu
Zhen-cai Zhu
Zhao-peng Sun
Guo-hua Cao
机构：
[1] China University of Mining and Technology,School of Mechanical and Electrical Engineering
来源：
Journal of Central South University | 2014年 / 21卷
关键词：
kinematics; dynamics; parallel manipulator; Lagrange formula;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair (3-RRC) parallel manipulator. This 3-RRC parallel manipulator is composed of a moving platform, a base platform, and three revolute joint-revolute joint-column pair chains which connect the moving platform and the base platform. Firstly, kinematics analysis for 3-RRC parallel manipulator was conducted. Next, on the basis of Lagrange formula, a simply-structured dynamic model of 3-RRC parallel manipulator was derived. Finally, through a calculation example, the variation of motorial parameters of this 3-RRC parallel manipulator, equivalent moment of inertia, driving force/torque and energy consumption was discussed. The research findings have important significance for research and engineering projects such as analyzing dynamic features, mechanism optimization design and control of 3-RRC parallel manipulator.
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页码：2660 / 2666
页数：6
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