Dynamic Analysis on a Feeding and Unloading Manipulator Using Kane's Method Combined with Screw Theory

被引：0

作者：

Zhao Daxu ^{[1
]}

机构：

[1] Zhejiang A&F Univ, Dept Mech, Sch Engn, Linan, Peoples R China

来源：

2012 INTERNATIONAL CONFERENCE ON INDUSTRIAL CONTROL AND ELECTRONICS ENGINEERING (ICICEE) | 2012年

关键词：

Kane's method; Kinematics; Dynamics; Feeding and unloading manipulator;

D O I：

10.1109/ICICEE.2012.265

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper deals with the kinematics and dynamics of an automatic feeding and unloading manipulator for coupling processing machine. To provide a basis for the structure design and motion control, the kinematics and dynamics meets the need of manufacturing conditions and technological process in production are systematically studied. The dynamics model based on Kane's method and screw theory is established in this paper. Dynamics characteristic performances, and needed driving force of the system are obtained according to planning trajectory. The result shows this kinematics and dynamics method proposed in this paper are very useful, and provide theoretical foundation and guidance for designing feeding and unloading manipulator.

引用

页码：999 / 1002

页数：4