Dynamics of the spherical 3- $\mathit{U\underline{P}S/}S$ parallel mechanism with prismatic actuators
Dynamics of the spherical 3- $\mathit{U\underline{P}S/}S$ parallel mechanism with prismatic actuators
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DOI：
10.1007/s11044-009-9150-x
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发表时间：
2009-04
影响因子：
3.4
通讯作者：
S. Staicu
中科院分区：
文献类型：
--
作者：
S. Staicu
本文建立了具有三个棱柱执行器的对称球面三并联机构的运动学和动力学递归关系。并联机械手由三个力控制，是一个三自由度机械系统，具有三个平行腿连接到移动平台。了解平台的位置和旋转运动后，我们首先开发逆运动学问题，并确定每个机械臂连杆的位置、速度和加速度。此外，逆动态问题是使用基于虚功原理的方法来解决的，但它已经使用拉格朗日方程及其乘子框架中的结果进行了验证。最后，获得了输入力和功率的紧凑矩阵关系和仿真图。
Recursive relations in kinematics and dynamics of the symmetric spherical 3-parallel mechanism having three prismatic actuators are established in this paper. Controlled by three forces, the parallel manipulator is a 3-DOF mechanical system with three parallel legs connecting to the moving platform. Knowing the position and the rotation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity, and acceleration of each manipulator’s link. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but it has been verified using the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input forces and powers are obtained.