Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator

被引：14

作者：

Hu, Bo ^{[1
,2
]}

Zhang, Liandong ^{[1
,2
]}

Yu, Jingjing ^{[1
,2
]}

机构：

[1] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China

[2] Yanshan Univ, Minist Natl Educ, Key Lab Adv Forging & Stamping Technol & Sci, Qinhuangdao 066004, Hebei, Peoples R China

来源：

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2016年 / 30卷 / 11期

基金：

中国国家自然科学基金;

关键词：

Dynamics simulator; Serial-parallel manipulator; Kinematics; Dynamics; INVERSE DYNAMICS; MANIPULATOR; ROBOT; DESIGN;

D O I：

10.1007/s12206-016-1036-2

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed.

引用

页码：5183 / 5195

页数：13

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