Dynamic Modeling of Spatial 6-DOF Parallel Robots Using Kane Method for Control Purposes
This paper readdressed the dynamics for spatial 6-DOF parallel robots (PR). With a view of improving the computational efficiency of dynamic equations and simplifying the modeling of PR, PR is regarded as seven rigid bodies, ignoring the complex dynamics of cylinder, and the dynamic equations are derived by using Kane method. The relationship of components of PR is described with geometric algorithms. SimMechanics is employed to build the full computer model of PR for verifying the dynamic equations. Simulation results show that the dynamic model of PR is accurate and effective, and it is more efficient for real time control.
parallel robots dynamics Kane method modelling
Chifu Yang Qitao Huang Zhengmao Ye Junwei Han
Dept.Mechanical and Electrical Engineering Harbin Institute of Technology,HIT Harbin,China
国际会议
南京
英文
519-522
2010-08-26（万方平台首次上网日期，不代表论文的发表时间）