Experimental verification of friction and dynamic models of a parallel kinematic machine

被引：0
作者：
Hovland, Geir
Murray, Matthew
Brogardh, Torgny
机构：
来源：
2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 | 2007年
关键词：
parallel kinematic machine; friction; dynamics;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The Gantry-Tau is a parallel kinematic manipulator (PKM) that overcomes the workspace limitations of typical PKMs, while retaining PKM benefits such as small moving masses and high stiffness. An experimental verification of the dynamics of the Gantry-Tau is presented for the first time in this paper. A new friction model based on axial forces in the links of the 3-DOF Gantry-Tau combined with a recent inverse dynamics model for parallel kinematic machines is also presented and verified experimentally. The inverse dynamics model combining the friction model and the Jacobians; shows a good match to the measured linear actuator forces from a full-scale prototype machine.
引用
收藏
页码：49 / 54
页数：6
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