Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

被引：12

作者：

Hu, Bo ^{[1
,2
,3
]}

Yu, Jingjing ^{[4
]}

Lu, Yi ^{[1
,2
]}

机构：

[1] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China

[2] Yanshan Univ, Key Lab Adv Forging & Stamping Technol & Sci, Minist Natl Educ, Qinhuangdao 066004, Hebei, Peoples R China

[3] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150006, Heilongjiang, Peoples R China

[4] Heibei Normal Univ Sci & Technol, Dept Mech & Elect, Qinhuangdao 066004, Hebei, Peoples R China

来源：

ROBOTICA | 2016年 / 34卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Dynamics; Kinematics; Serial-parallel manipulators; STEWART PLATFORM MANIPULATOR; WAIST-TRUNK SYSTEM; VIRTUAL WORK; SCREW THEORY; KINEMATICS; PRINCIPLE; DESIGN; ROBOT;

D O I：

10.1017/S0263574714001817

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The inverse dynamics model of a novel (3-UPU)+(3-UPS+S) serial-parallel manipulator (S-PM) formed by a 3-UPU PM and a 3-UPS+S PM connected in serial is studied in this paper. First, the inverse position, velocity, and acceleration of this S-PM are studied systematically. Second, the velocity mapping relations between each component and the terminal platform of (3-UPU)+(3-UPS+S) S-PM are derived. Third, the dynamics model of the whole (3-UPU)+(3-UPS+S) S-PM is established by means of the principle of virtual work. The process for establishing the dynamics model of this S-PM is fit for other S-PMs.

引用

页码：687 / 702

页数：16

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