Dynamics model of 5-DOF parallel robot mechanism

被引：0

作者：

Chen, Xiulong ^{[1
]}

Feng, Weiming ^{[1
]}

Zhao, Yongsheng ^{[2
]}

机构：

[1] College of Mechanical and Electronic Engineering, Shandong University of Science and Technology

[2] College of Mechanical Engineering, Yanshan University

来源：

Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2013年 / 44卷 / 01期

关键词：

5-DOF; Dynamics model; Parallel mechanism; Virtual work principle;

D O I：

10.6041/j.issn.1000-1298.2013.01.044

中图分类号：

学科分类号：

摘要：

A 4-UPS-UPU spatial 5-DOF parallel robot mechanism was introduced. A dynamics model of 4-UPS-UPU was presented. The kinematics of the UPS and UPU chain of leg was analyzed and the velocity mapping relationships between the parts and the driving axis were established. The exterior force load and the equivalent driving force were educed. The dynamics model of 4-UPS-UPU parallel robot mechanism was educed by the virtual work principle approach, which was the foundation of the dynamic analysis. Combined with engineering application examples, numerical verification and virtual simulation verification of the results of driving force and constraining torque was carried out.

引用

页码：236 / 243

页数：7

共 10 条

[1]

Chen X., Jia S., Deng Y., Et al., Dynamic behaviors of rigid-flexible coupling for novel 4-UPS-UPU parallel coordinate measuring machine, Journal of Jilin University: Engineering and Technology Edition, 41, 4, pp. 1020-1024, (2011)

[2]

Chen X., Jia S., Deng Y., Dynamics optimization design of high-speed spatial parallel coordinate measuring machine, Transactions of the Chinese Society for Agricultural Machinery, 43, 3, pp. 213-218, (2012)

[3]

Bai Z., Han X., Chen W., Study of a 3-DOF parallel manipulator dynamics based on Lagranges equation, Journal of Beijing University of Aeronautics and Astronautics, 30, 1, pp. 51-54, (2004)

[4]

Wang H., Huang Z., Langrages dynamic equation of six-DOF parallel multi-loop robot manipulator, Robot, 12, 1, pp. 23-26, (1990)

[5]

Chen G., Wang H., Lai X., Et al., Forward dynamics analysis of spatial parallel mechanisms based on the Newton-Euler method with generalized coordinates, Journal of Mechanical Engineering, 45, 7, pp. 41-48, (2009)

[6]

Kong L., Zhang S., Xiao W., Et al., Rigid body dynamics model of the 6-PUS parallel mechanism based on Newton-Euler method, Robot, 26, 5, pp. 395-399, (2004)

[7]

Guo Z., Chen W., Chen D., Dynamics model on the 6-UPS parallel mechanism, Chinese Journal of Mechanical Engineering, 38, 11, pp. 53-57, (2002)

[8]

Tsai L.W., Solving the inverse dynamics of a Stewart Gough manipulator by the principle of virtual work, ASME Journal of Mechanical Design, 122, 1, pp. 3-9, (2000)

[9]

Zhao Y., Zheng K., Shi Y., Dynamics modeling of 5-UPS/PRPU 5-DOF parallel machine tool, Machine Design & Research, 20, 3, pp. 45-47, (2004)

[10]

Zhao Y.J., Yang Z.Y., Huang T., Inverse dynamics of delta robot based on the principle of virtual work, Transactions of Tianjin University, 11, 4, pp. 268-273, (2005)

← 1 →