Dynamic analysis of 6-SPS parallel mechanism

被引：44
|
作者：
Wu, Peidong [1 ]
Xiong, Hegen [1 ]
Kong, Jianyi [1 ]
机构：
[1] Wuhan Univ Sci & Technol, Sch Mech Engn, Wuhan 430081, Peoples R China
来源：
INTERNATIONAL JOURNAL OF MECHANICS AND MATERIALS IN DESIGN | 2012年 / 8卷 / 02期
关键词：
Parallel mechanism; Inverse dynamics; Kinematic analysis; Kane formulation; STEWART PLATFORM MANIPULATOR; INVERSE DYNAMICS; VIRTUAL WORK; PRINCIPLE; DESIGN;
D O I：
10.1007/s10999-012-9181-y
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents the kinematics and inverse dynamic analysis of a 6-SPS parallel mechanism based on the principle of Kane. The parameters of orientation and Euler angles of the moving platform are adopted as generalized coordinate. The gravity and inertial forces of all links and moving platform are considered in the mathematical model of inverse dynamics. Both kinematics and inverse dynamics equations are derived. Driving forces-time relation is derived form inverse dynamics model. The approach is verified by simulation results, which are consistent with the planned trajectory and kinematics parameters.
引用
收藏
页码：121 / 128
页数：8
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