Simplified approach for dynamics estimation of a minor mobility parallel robot

被引：10
作者：
Carbonari, L. [1 ]
机构：
[1] Polytech Univ Marche, Dept Ind Engn & Math Sci, I-60131 Ancona, Italy
来源：
MECHATRONICS | 2015年 / 30卷
关键词：
Robot dynamics; Parallel kinematics machines; Approximated model; System identification; INVERSE DYNAMICS; MANIPULATOR; MODEL;
D O I：
10.1016/j.mechatronics.2015.06.005
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the identification of an approximated polynomial model for the dynamics of a parallel kinematics machine. The case study of a specific translational Cartesian manipulator is faced. Firstly, an analysis of robot dynamics is performed to verify the presence of poorly relevant terms. A polynomial simplified model is then built by fitting the actual behaviour of the robot prototype. The seek of the coefficients of the interpolating polynomials has been constrained taking advantage of robot peculiarities, such as symmetry and intrinsic properties of multibody systems dynamics. The effectiveness of the proposed simplification is then verified by comparison with robot behaviour. (C) 2015 Elsevier Ltd. All rights reserved.
引用
收藏
页码：76 / 84
页数：9
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