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Coordinative dynamics analysis of a parallel manipulator with three grippers
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第一作者: Lu Y(路懿);Wang P(王鹏);Hou ZL(侯卓磊);Hu B(胡波);Sui CP(隋春平);Han JD(韩建达)
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发表年度: 2014
期: 2
卷: 29
页: 184-192
摘要: A kinetostatic model and a dynamics model of a parallel manipulator (PM) with three grippers are established and analyzed in the light of its application. First, the coordinative kinematics of this manipulator and three grippers are analyzed. Second, the kinetostatic formulae are derived for transforming the coordinative kinematics and forces applied on the grippers into the workloads applied on the moving platform and the active/constrained forces and torques applied onto active legs. Third, the dynamics formulae are derived for solving dynamic active wrench of grippers and PM by considering inertial mass of the grippers, legs and platform. Finally, a numerical example is given for illustrating application of kinetostatic model and dynamics formulae, and the dynamics solutions of this manipulator are verified by simulation.
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刊物名称: International Journal of Robotics and Automation
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