Kinematics and dynamics of a parallel manipulator with a new architecture
Kinematics and dynamics of a parallel manipulator with a new architecture
复制标题
DOI：
10.1017/s026357470000271x
复制
发表时间：
2000-09
期刊：
影响因子：
2.7
通讯作者：
A. Fattah;G. Kasaei
中科院分区：
文献类型：
--
作者：
A. Fattah;G. Kasaei
本文研究了一种新型并联机器人的运动学和动力学问题，该并联机器人是飞行模拟器项目中的移动机构。这种具有三个独立自由度的机械手由一个移动平台通过三条腿连接到一个基础平台组成。在位置，速度和加速度水平的机械手的运动学解。此外，机械手的运动动力学方程的确定使用牛顿-欧拉方程和应用自然正交补（NOC）方法。利用运动学和动力学方法，对动平台的不同操作进行仿真，得到了腿的运动和驱动力。
In this paper, the kinematics and dynamics of a parallel manipulator with a new architecture supposed to be used as a moving mechanism in a flight simulator project is studied. This manipulator with three independent degrees of freedom consists of a moving platform connected to a based platform by means of three legs. Kinematic solutions for this manipulator at position, velocity and acceleration levels are obtained. Moreover, the dynamical equations of motion of the manipulator are determined using Newton-Euler's equations and applying the natural orthogonal complement (NOC) method. Using kinematics and dynamics and also performing simulation for different manoeuvres of moving platform, the motion and the actuator forces of the legs are obtained.