Inverse dynamics of the HALF parallel manipulator with revolute actuators
Inverse dynamics of the HALF parallel manipulator with revolute actuators
复制标题
带旋转执行器的半并联机械手的逆动力学
DOI：
10.1007/s11071-006-9138-5
复制
发表时间：
2007-10-01
影响因子：
5.6
通讯作者：
Wang, Jinsong
中科院分区：
文献类型：
--
作者：
Staicu, Stefan;Liu, Xin-Jun;Wang, Jinsong
本文提出了半并联机械臂运动学和动力学的递归矩阵关系。该机器人原型是一种带有旋转执行器的空间机构，具有两个平移自由度和一个旋转自由度。并联机械手由底板、移动平台和三个连接腿系统组成，广泛应用于工业机器人、模拟器、并联机床以及任何其他需要高机动性的操纵设备领域。假设运动平台的位置和运动已知，则利用虚力原理求解逆动力学问题。最后，分析并确定了所有执行器的扭矩和功率的一些迭代矩阵关系和图表。结果表明，该方法是并联机构运动学和动力学建模的有效手段。
Recursive matrix relations for kinematics and dynamics of the HALF parallel manipulator are presented in this paper. The prototype of this robot is a spatial mechanism with revolute actuators, which has two translation degrees of freedom and one rotation degree of freedom. The parallel manipulator consists of a base plate, a movable platform and a system of three connecting legs, having wide application in the fields of industrial robots, simulators, parallel machine tools and any other manipulating devices where high mobility is required. Supposing that the position and the motion of the moving platform are known, an inverse dynamics problem is solved using the principle of virtual powers. Finally, some iterative matrix relations and graphs of the torques and powers for all actuators are analysed and determined. It is shown that this approach is an effective means for kinematics and dynamics modelling of parallel mechanisms.