Dynamic Analysis of Redundant Parallel Manipulator

被引：0

作者：

Li Qing ^{[1
]}

Ren YongXin ^{[2
]}

Zhang Jing ^{[2
]}

机构：

[1] China Acad Machinery Sci & Technol, 2 Shouti South Rd, Beijing 100044, Peoples R China

[2] China Acad Machinery Sci Technol, Adv Mfg Technol Ctr, 18 Xue Qing Rd, Beijing 100083, Peoples R China

来源：

Proceedings of the 2016 3rd International Conference on Mechatronics and Information Technology (ICMIT) | 2016年 / 49卷

关键词：

Redundant Drive; Parallel Mechanism; Freedom; Dynamic Analysis;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

The structure of 5-UPS/PRPU redundant parallel manipulator is introduced. The degree of freedom and redundant type of this manipulator is analyzed. And, the dynamic equations of five UPS branches and a PRPU branch are established with Lagrange Method. This study provides theoretical basis for the control system of 5-UPS /PRPU redundant parallel manipulator.

引用

页码：363 / 366

页数：4

共 6 条

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