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
收藏
页码：5183 / 5195
页数：13
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