Dynamics Modeling for a Novel 3-DOF Dual Parallel Manipulator Considering the Flexibility of Compliant Components

摘要：

This paper is concerned with the design and modeling of a 3-DOF dual parallel robot with flexure hinges. Based on our previous research experiences in the systematical modeling and study of parallel robots, a dynamic modeling has been performed by using Kanes method and Newton- Euler equation. A state-space framework is defined to facilitate the design of an optimal controller. Numerical simulations are presented to verify the validity of both models. The investigations of this paper may not only have significance in robotics research, but also make contributions to the research on dynamic characteristics based on novel parallel manipulators.

作者: Yuan Yun Yangmin Li

作者单位: Department of Electromechanical Engineering,Faculty of Science and Technology,University of Macau,Av Department of Electromechanical Engineering,Faculty of Science and Technology,University of Macau,Av

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 1410-1415

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）