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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)
作者部门机器人学研究室
关键词Computer Simulation Dynamics Kinematics Manipulators
发表期刊International Journal of Robotics and Automation
ISSN0826-8185
2014
卷号29期号:2页码:184-192
收录类别SCI ; EI
EI收录号20142017716668
WOS记录号WOS:000334154600007
产权排序3
摘要

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.

语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Robotics
关键词[WOS]Homogeneous Matrix Approach ; Inverse Dynamics ; Virtual Work ; Kinematics ; Principle ; Design
WOS研究方向Automation & Control Systems ; Robotics
引用统计
被引频次:5[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15117
专题机器人学研究室
通讯作者Lu Y(路懿)
作者单位1.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
推荐引用方式
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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