Inverse Dynamic Analysis of the 2-DOF Parallel Platform with Actuation Redundancy

摘要：

The dynamic formulation is presented in this paper. On base of a method which refers to the principle of virtual work, the inverse dynamic model of the 2-DOF parallel platform is set up. The dynamic formulation is a system of equations including two equations and three unknown quantities referring to three driving forces. Therefore, the solution of the driving forces as to the system of equations is carried out by employing the generalized inverse matrix with minimizing an objective function which is the square of the sum of three driving forces.

关键词： Parallel platform Actuation redundancy Principle of virtual work

作者: F.WANG D.HAN

作者单位: School of Mechanical Engineering,Tianjin University,Tianjin,China

会议类型: 国际会议

会议名称: 2010 IEEE 17th International Conference on Industrial Engineering and Engineering Management(2010年IEEE第17届工业工程与工程管理国际学术会议)

会议地点: 厦门

会议语种:英文

页码: 529-531

在线出版日期: 2010-10-29（万方平台首次上网日期，不代表论文的发表时间）