THE CONTROL SIMULATION OF THE 6-DOF PARALLEL MANIPULATOR

摘要：

This paper presents the control simulation of the 6DOF parallel manipulator. The 6-DOF parallel manipulator consist of fix base and moveable platform coupled together by the six electrical actuators, each of which has two universal joints.This paper explains the modeling and simulation of the 6-DOF parallel manipulator consist of inverse kinematics, dynamic equations of motion of the 6DOF parallel manipulator is expressed by the Lagrange formulation and computer model of control scheme using Simulink.The simulation results are presented.

关键词： The 6-DOF parallel manipulator Stewart Platform Inverse kinematics Lagrangian dynamics

作者: VONGVIT RATTAWUT ZHU HAI TAO

作者单位: College of Mechanical and Electrical Engineering Harbin Engineering University Harbin,China

会议类型: 国际会议

会议名称: 3rd International Conference on Mechanical and Electrical Technology(ICMET2011) (2011第三届机械与电气技术国际会议)

会议地点: 大连

会议语种:英文

页码: 511-516

在线出版日期: 2011-08-26（万方平台首次上网日期，不代表论文的发表时间）