Dynamics analysis of a 3-DOF parallel manipulator with R-P-S joint structure
Dynamics analysis of a 3-DOF parallel manipulator with R-P-S joint structure
复制标题
DOI：
10.1016/j.mechmachtheory.2006.05.004
复制
发表时间：
2007-05-01
影响因子：
5.2
通讯作者：
Xirouchakis, Paul
中科院分区：
文献类型：
--
作者：
Sokolov, Alexei;Xirouchakis, Paul
对一种具有R-P-S（转动-棱柱-球面）关节结构的三自由度并联机器人进行了动力学分析。应用虚功原理，以末端执行器坐标为广义坐标，建立了机器人的运动方程。该方程是基于简化的无根位置方程导出的。还考虑了逆运动学奇异性的特殊情况下的动力学分析以及相关的数值问题。通过两个数值例子说明了结果。(C)2006爱思唯尔有限公司保留所有权利。
This paper presents a dynamics analysis for a 3-DOF parallel manipulator with R-P-S (revolute-prismatic-spherical) joint structure. The motion equations are obtained with an application of the principal of virtual work and with the end-effector coordinates chosen as the generalized ones. The equations are derived based on the simplified radical-free position equations. The dynamic analysis together with the associated numerical issues for the particular case of an inverse kinematics singularity is also considered. The results are illustrated by two numerical examples. (C) 2006 Elsevier Ltd. All rights reserved.