Dynamic Coupling Analysis of a Spatial 6-DOF Electro-Hydraulic Parallel Manipulator Using a Modal Decoupling Method

被引：29
|
作者：
Yang, Chifu [1 ]
Han, Junwei [1 ]
机构：
[1] Harbin Inst Technol, Dept Mech & Elect Engn, Harbin 150006, Heilongjiang, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷
基金：
中国国家自然科学基金;
关键词：
Parallel Manipulator; Dynamic Coupling; Modal Analysis; Frequency Response Characteristics; KINEMATIC DESIGN; FAMILY;
D O I：
10.5772/55028
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The workspace of a spatial 6-DOF electro-hydraulic parallel manipulator is strongly coupled, due to its multi-closed-loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6-DOF parallel manipulator, using modal decoupling theory and a frequency responses characteristics analysis method. The dynamic model of a spatial 6-DOF electro-hydraulic parallel manipulator is expressed with the Kane method and hydromechanics principles. The modal analysis method is used to establish the map between strong coupling workspace and decoupled modal space and the dynamic coupling relationship and coupling strength between workspaces are exactly revealed. The quantitative evaluation index of dynamic coupling is presented. Moreover, the relationship between dynamic coupling effects and input is discussed through applying frequency characteristics analysis. Experimental results show the workspace of the parallel manipulator is strongly coupled and the coupling property is coincident with theoretical results.
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收藏
页数：8
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