Complete dynamic modelling of a moving base 6-dof parallel manipulator

被引：7
|
作者：
Lopes, Antonio M. [1 ]
机构：
[1] Univ Porto, Fac Engn, Unidade Integracao Sistemas & Proc Automatizados, P-4200465 Oporto, Portugal
来源：
ROBOTICA | 2010年 / 28卷
关键词：
Robotics; Parallel manipulators; Robot dynamics; Generalized momentum; Moving base; STEWART PLATFORM MANIPULATOR; INVERSE DYNAMICS; VIRTUAL WORK; ROBOT; DESIGN; SIMULATION; PRINCIPLE; MACHINES;
D O I：
10.1017/S0263574709990506
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper a new approach based on the generalized momentum is used to obtain the dynamic model of a six degrees-of-freedom (dof) parallel manipulator. First, the system dynamic equations are obtained supposing the manipulator base platform is fixed. Afterwards, the dynamic model is extended to the case of amoving base platform. This could be important in a macro/micro robotic application, where a small manipulator is attached in series to a big manipulator. Simulation results of a macro/micro robotic system are presented and the contribution of the base platform motion to the total actuating forces is shown.
引用
收藏
页码：781 / 793
页数：13
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