Dynamics Analysis of 3-TPS/TP Parallel Robots Moving Platform
The purpose of this research work is to find the relationship between the driving force (F)of 3-TPS/TP parallel robots moving platform and the motion of tool tip,and provide reliable basis for the robot control.The Lagrange method is adopted to establish the dynamics model,and the results of the simulation by MATLAB are given in this paper.The movement of tool tip can be described by the angle a and β rotated around X-axis and Y-axis respectively,and the displacement z in the Z direction.The simulation results show that the value of F increases with the increase of the value of z,namely when the total length of the transmission rod decreases,F will increase to overcome the resistance caused by telescoping.
Parallel Robot (PR) Dynamics Model MATLAB Simulation
Jiman Luo Zhihui Xing Yang Jiang Xiaotong Zhang Yuzhen An
School of Traffic & Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
国际会议
香港
英文
1655-1659
2012-07-27（万方平台首次上网日期，不代表论文的发表时间）