Dynamic Analysis of Redundant Parallel Manipulator

被引：0
|
作者：
Li Qing [1 ]
Ren YongXin [2 ]
Zhang Jing [2 ]
机构：
[1] China Acad Machinery Sci & Technol, 2 Shouti South Rd, Beijing 100044, Peoples R China
[2] China Acad Machinery Sci Technol, Adv Mfg Technol Ctr, 18 Xue Qing Rd, Beijing 100083, Peoples R China
来源：
Proceedings of the 2016 3rd International Conference on Mechatronics and Information Technology (ICMIT) | 2016年 / 49卷
关键词：
Redundant Drive; Parallel Mechanism; Freedom; Dynamic Analysis;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
The structure of 5-UPS/PRPU redundant parallel manipulator is introduced. The degree of freedom and redundant type of this manipulator is analyzed. And, the dynamic equations of five UPS branches and a PRPU branch are established with Lagrange Method. This study provides theoretical basis for the control system of 5-UPS /PRPU redundant parallel manipulator.
引用
收藏
页码：363 / 366
页数：4
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