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Coordinative dynamics analysis of a parallel manipulator with three grippers
Lu Y(路懿); Wang P(王鹏); Hou ZL(侯卓磊); Hu B(胡波); Sui CP(隋春平); Han JD(韩建达)
Department机器人学研究室
Source PublicationInternational Journal of Robotics and Automation
ISSN0826-8185
2014
Volume29Issue:2Pages:184-192
Indexed BySCI ; EI
EI Accession number20142017716668
WOS IDWOS:000334154600007
Contribution Rank3
KeywordComputer Simulation Dynamics Kinematics Manipulators
Abstract

A kinetostatic model and a dynamics model of a parallel manipulator (PM) with three grippers are established and analyzed in the light of its application. First, the coordinative kinematics of this manipulator and three grippers are analyzed. Second, the kinetostatic formulae are derived for transforming the coordinative kinematics and forces applied on the grippers into the workloads applied on the moving platform and the active/constrained forces and torques applied onto active legs. Third, the dynamics formulae are derived for solving dynamic active wrench of grippers and PM by considering inertial mass of the grippers, legs and platform. Finally, a numerical example is given for illustrating application of kinetostatic model and dynamics formulae, and the dynamics solutions of this manipulator are verified by simulation.

Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Robotics
WOS KeywordHomogeneous Matrix Approach ; Inverse Dynamics ; Virtual Work ; Kinematics ; Principle ; Design
WOS Research AreaAutomation & Control Systems ; Robotics
Citation statistics
Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15117
Collection机器人学研究室
Corresponding AuthorLu Y(路懿)
Affiliation1.College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China
2.Parallel Robot and Mechatronic System Laboratory of Hebei Province, Key Lab. of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Liaoning 110016, China
Recommended Citation
GB/T 7714
Lu Y,Wang P,Hou ZL,et al. Coordinative dynamics analysis of a parallel manipulator with three grippers[J]. International Journal of Robotics and Automation,2014,29(2):184-192.
APA Lu Y,Wang P,Hou ZL,Hu B,Sui CP,&Han JD.(2014).Coordinative dynamics analysis of a parallel manipulator with three grippers.International Journal of Robotics and Automation,29(2),184-192.
MLA Lu Y,et al."Coordinative dynamics analysis of a parallel manipulator with three grippers".International Journal of Robotics and Automation 29.2(2014):184-192.
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