Rigid Dynamic Model and Analysis of 5-DOF Parallel Mechanism-Reference-Cited by-同舟云学术

Rigid Dynamic Model and Analysis of 5-DOF Parallel Mechanism

Published:2015-07-01 Issue:7 Volume:12 Page:108
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Chen Xiulong¹,Liang Xiaoxia¹,Deng Yu¹,Wang Qing²

Affiliation:

1. College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China

2. College of Civil Engineering and Architecture, Shandong University of Science and Technology, Qingdao, China

Abstract

This paper introduces a novel 4-UPS-RPS spatial parallel mechanism, which can achieve three rotation degrees and two translation degrees of freedom. A rigid dynamic model is established and analysis of the parallel mechanism is carried out. The kinematics of the RPS and UPS driving limbs are analysed and the velocity-mapping relationships between the driving limbs and the other parts are built. The load conditions of the parts are analysed, and the rigid dynamic model of the 4-UPS-RPS parallel mechanism is derived by the virtual work principle approach. Using the example of the parallel mechanism movement, a driving forces analysis of the 4-UPS-RPS parallel mechanism is carried out, and the correctness of the rigid dynamic model is verified by numerical calculation and virtual simulation.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/61040

Reference18 articles.

1. An Adaptive Wearable Parallel Robot for the Treatment of Ankle Injuries

2. Study of helicopter autorotation landing following engine failure based on a six-degree-of-freedom rigid-body dynamic model

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