Inverse Dynamic Model and Simulation for the Planar Parallel Manipulator

摘要：

Inverse dynamic model of the planar parallel manipulator is established based on Newton-Euler method and single opened chain of limb. Inverse Analytic solutions of limbs are deduced. And the relationship is obtained between the displacement, velocity, acceleration of the manipulator moving platform and those of the limbs. Analyses on the driving forces and support forces of the joint are carried on under given kinematics. Computer simulation of the driving forces and support forces of joints are mapped.

关键词： parallel manipulator dynamic analysis model simulation

作者: Xingchun Gui Wenhua Wang

作者单位: School of Mechanical Engineering, Jiamusi University Jiamusi, China School of Mechanical and Electronic Engineering, Tianjin Polytechnic University Tianjin, China

会议类型: 国际会议

会议名称: The 2010 International Conference on Computer Application and System Modeling(2010计算机应用与系统建模国际会议 ICCASM 2010)

会议地点: 太原

会议语种:英文

页码: 17-21

在线出版日期: 2010-10-22（万方平台首次上网日期，不代表论文的发表时间）