Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism

被引：15
|
作者：
Abeywardena, Sajeeva [1 ]
Chen, Chao [1 ]
机构：
[1] Monash Univ, Dept Mech & Aerosp Engn, Melbourne, Vic, Australia
来源：
MULTIBODY SYSTEM DYNAMICS | 2017年 / 41卷 / 01期
关键词：
Parallel mechanisms; Inverse dynamics; Base inertial parameters; NATURAL ORTHOGONAL COMPLEMENT; STEWART PLATFORM MANIPULATOR; BASE INERTIAL PARAMETERS; ROBOTS; KINEMATICS; FORMULATION;
D O I：
10.1007/s11044-016-9506-y
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
The Monash Epicyclic Parallel Manipulator (MEPaM) is a novel six-degree-offreedom (dof) parallel mechanism with base mounted actuators. Closed form equations of the inverse dynamic model of MEPaM are obtained through two different methods, with simulation showing these models to be equivalent. The base inertial parameters for the dynamic model of MEPaM are determined, reducing the number of inertial parameters from 100 to 28. This significantly simplifies the dynamic calibration model and thus the number of computations required.
引用
收藏
页码：1 / 24
页数：24
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