The design and dynamic analysis of a novel 6-DOF parallel mechanism

被引：6

作者：

Liu, Xiuling ^{[1
]}

Wang, Qingquan ^{[2
]}

Malikov, Alexander ^{[3
]}

Wang, Hongrui ^{[1
]}

机构：

[1] Hebei Univ, Sch Elect & Informat Engn, Baoding 071002, Peoples R China

[2] Yanshan Univ, Key Lab Ind Comp Control Engn Hebei Prov, Qin Huang Dao 066004, Peoples R China

[3] Kazan State Tech Univ, Kazan 420111, Tatarstan, Russia

来源：

INTERNATIONAL JOURNAL OF MACHINE LEARNING AND CYBERNETICS | 2012年 / 3卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Parallel robot; Inverse dynamic; Trajectory tracking; SIMULATION;

D O I：

10.1007/s13042-011-0040-1

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we present the kinematical characteristics of a novel 6-DOF orthogonal parallel mechanism. The dynamic equation of the parallel mechanism is first established using Lagrangian approach. Then, the complex dynamics model of the mechanism is simplified for the ease of analysis and implementation. The dynamic property of the simplified model has been studied through simulation.

引用

页码：27 / 37

页数：11

共 18 条

[1]

Alavandar S, 2008, INT J COMPUT COMMUN, V3, P150

[2]

[Anonymous], 2005, ROBOT DYNAMICS CONTR

[3] Kinematic, static and dynamic analysis of a planar 2-DOF tensegrity mechanism [J].

Arsenault, Marc ;

Gosselin, Clement M. .

MECHANISM AND MACHINE THEORY, 2006, 41 (09) :1072-1089

[4]

Frolov KV, 2001, MECH THEORY MACHINES

[5] Inverse dynamic analysis of parallel manipulators with full mobility [J].

Geike, T ;

McPhee, J .

MECHANISM AND MACHINE THEORY, 2003, 38 (06) :549-562

[6] Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator [J].

Guo, HB ;

Li, HR .

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2006, 220 (01) :61-72

[7]

Hong-Rui Wang, 2010, 2010 International Conference on Machine Learning and Cybernetics (ICMLC 2010), P2015, DOI 10.1109/ICMLC.2010.5580510

[8] Extreme learning machines: a survey [J].

Huang, Guang-Bin ;

Wang, Dian Hui ;

Lan, Yuan .

INTERNATIONAL JOURNAL OF MACHINE LEARNING AND CYBERNETICS, 2011, 2 (02) :107-122

[9] Kinematic and dynamic identification of parallel mechanisms [J].

Renaud, Pierre ;

Vivas, Andres ;

Andreff, Nicolas ;

Poignet, Philippe ;

Martinet, Philippe ;

Pierrot, Francois ;

Company, Olivier .

CONTROL ENGINEERING PRACTICE, 2006, 14 (09) :1099-1109

[10] From foundational issues in artificial intelligence to intelligent memristive nano-devices [J].

Schuster, Alfons ;

Yamaguchi, Yoko .

INTERNATIONAL JOURNAL OF MACHINE LEARNING AND CYBERNETICS, 2011, 2 (02) :75-87

← 1 2 →