Dynamic Analysis of Spherical 5R Parallel Manipulator

被引：2
作者：
Zhang, Li-Jie [1 ]
Li, Yong-Quan [1 ]
Guo, Ya-Qing [1 ]
机构：
[1] Yanshan Univ, Hebei Key Lab Heavy Machinery Fluid Power Transmi, Qin 066004, Huangdao, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
关键词：
Spherical; 5R; parallel manipulator; Dynamics; ADAMS;
D O I：
10.1109/ICMA.2009.5246184
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 research subject of this paper is spherical SR parallel manipulator, on the basis of analysis of kinematics of the manipulator, the dynamic model of the manipulator was established by virtue of Lagrange method, and via numerical calculating example, the dynamic model of the manipulator was simulated by two software Matlab and ADAMS, by comparing the results obtained by two software, we proved that the dynamic model of the spherical SR parallel manipulator is right, which provide theoretical foundation for manufacturing sample.
引用
收藏
页码：1510 / 1514
页数：5
相关论文
共 15 条
  • [1] BIAN YH, 1998, ANAL MECH MULTIRIGID, P3
  • [2] CHEN C, 2000, ASME 2000 INT DES EN, P135
  • [3] Decoupling of dynamic equations by means of adaptive balancing of 2-dof open-loop mechanisms
    Coelho, TAH
    Yong, L
    Alves, VFA
    [J]. MECHANISM AND MACHINE THEORY, 2004, 39 (08) : 871 - 881
  • [4] Dynamics of a class of parallel wrists
    Di Gregorio, R
    Parenti-Castelli, V
    [J]. JOURNAL OF MECHANICAL DESIGN, 2004, 126 (03) : 436 - 441
  • [5] GALLARDO J, 2003, MECH MACH THEORY, V29, P1122
  • [6] GOSSELIN CM, 1994, IEEE INT CONF ROBOT, P781
  • [7] ROTATABILITY CONSIDERATIONS FOR SPHERICAL 4-BAR LINKAGES WITH APPLICATIONS TO ROBOT WRIST DESIGN
    GUPTA, KC
    [J]. JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1986, 108 (03): : 387 - 391
  • [8] KRIANEV A, 2000, HDB PRINCIPLE MACHIN, P165
  • [9] Kinematics, dynamics and dimensional synthesis of a novel 2-DoF translational manipulator
    Liu, XJ
    Wang, QM
    Wang, JS
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2005, 41 (04) : 205 - 224
  • [10] Nakamura Y., 1988, Proceedings of the 1988 IEEE International Conference on Robotics and Automation (Cat. No.88CH2555-1), P1354, DOI 10.1109/ROBOT.1988.12256
12