Dynamics modelling and control of the 3-RCC translational platform

被引：44
作者：
Callegari, Massimo [1 ]
Palpacelli, Matteo-Claudio [1 ]
Principi, Marco [1 ]
机构：
[1] Polytech Univ Marche, Dept Mech, I-60131 Ancona, Italy
来源：
MECHATRONICS | 2006年 / 16卷 / 10期
关键词：
robotics; parallel kinematics machines; translation parallel mechanisms; parallel robots; inverse dynamics; hybrid position/force control;
D O I：
10.1016/j.mechatronics.2006.06.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The article presents the inverse dynamics model of a novel translating parallel machine and proposes the structure of a force controller for the execution of tasks characterised by interaction with the environment. The task space model of machine's dynamics is obtained in an efficient and compact form by means of the principle of virtual work. A virtual prototyping environment has been set up to test by computer simulation the potential of such kinematic architecture: the resulting dynamics is rather poor, mainly due to the high moving masses, but it is shown that hybrid position/force control schemes should be able to provide good performances, including the case of rather difficult operations, such as the peg-in-hole assembly. (C) 2006 Elsevier Ltd. All rights reserved.
引用
收藏
页码：589 / 605
页数：17
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