Inverse dynamics of a 3-PRC parallel kinematic machine

被引：43

作者：

Li, Yangmin ^{[1
]}

Staicu, Stefan ^{[2
]}

机构：

[1] Univ Macau, Dept Electromech Engn, Taipa, Macao Sar, Peoples R China

[2] Univ Politehn Bucuresti, Dept Mech, Bucharest, Romania

来源：

NONLINEAR DYNAMICS | 2012年 / 67卷 / 02期

关键词：

Dynamics modelling; Kinematics; Lagrange equations; Parallel kinematic machine; Virtual work; MANIPULATORS; STIFFNESS; DESIGN;

D O I：

10.1007/s11071-011-0045-z

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Recursive matrix relations for kinematics and dynamics analysis of a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) are performed in this paper. Knowing the translational motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot's elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work and the results in the framework of the Lagrange equations with their multipliers can be verified. Finally, compact matrix equations and graphs of simulation for input force and power of each of three actuators are obtained. The investigation of the dynamics of this parallel mechanism is made mainly to solve successfully the control of the motion of such robotic system.

引用

页码：1031 / 1041

页数：11

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