Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

被引：11
|
作者：
Hu, Bo [1 ,2 ,3 ]
Yu, Jingjing [4 ]
Lu, Yi [1 ,2 ]
机构：
[1] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China
[2] Yanshan Univ, Key Lab Adv Forging & Stamping Technol & Sci, Minist Natl Educ, Qinhuangdao 066004, Hebei, Peoples R China
[3] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150006, Heilongjiang, Peoples R China
[4] Heibei Normal Univ Sci & Technol, Dept Mech & Elect, Qinhuangdao 066004, Hebei, Peoples R China
来源：
ROBOTICA | 2016年 / 34卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Dynamics; Kinematics; Serial-parallel manipulators; STEWART PLATFORM MANIPULATOR; WAIST-TRUNK SYSTEM; VIRTUAL WORK; SCREW THEORY; KINEMATICS; PRINCIPLE; DESIGN; ROBOT;
D O I：
10.1017/S0263574714001817
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The inverse dynamics model of a novel (3-UPU)+(3-UPS+S) serial-parallel manipulator (S-PM) formed by a 3-UPU PM and a 3-UPS+S PM connected in serial is studied in this paper. First, the inverse position, velocity, and acceleration of this S-PM are studied systematically. Second, the velocity mapping relations between each component and the terminal platform of (3-UPU)+(3-UPS+S) S-PM are derived. Third, the dynamics model of the whole (3-UPU)+(3-UPS+S) S-PM is established by means of the principle of virtual work. The process for establishing the dynamics model of this S-PM is fit for other S-PMs.
引用
收藏
页码：687 / 702
页数：16
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