| Dynamics of 3-DOF Hybrid Robot Manipulator |
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| 作者姓名： | 周兵 毛泰祥 杨汝清 |
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| 作者单位： | Robot Lab，Shanghai Jiaotong University，Shanghai，200030，Dr，Robot Lab，Shanghai Jiaotong University，Shanghai，200030，Robot Lab，Shanghai Jiaotong University，Shanghai，200030 |
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| 摘 要： | IntroductionForhighstiffness,Stewartfirstintroducedaparallelmanipulator,whichalsooffershighaccuracyandfastdynamic performance1] .Hencemanyresearchershavestudieddifferenttypesofparallelmanipulatorforvariousapplications.Unfortunately ,parallelmechanismexhibitssmallworkspaceandcomplicatedkinematicsanddynamics.Bycombiningmechanisms,LeeandParkdesignedahybridrobotmanipulatorfor propeller grinding .This paperintroducesahybridrobotmanipulator,whichisconstructedbycombininga parallelmechanismandapant…
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Dynamics of 3-DOF Hybrid Robot Manipulator |
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| ZHOU Bing,MAO Tai-xiang,YANG Ru-qingRobot Lab,Shanghai Jiaotong University,Shanghai.Dynamics of 3-DOF Hybrid Robot Manipulator[J].Journal of Donghua University,2004,21(4). |
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| Authors: | ZHOU Bing MAO Tai-xiang YANG Ru-qingRobot Lab Shanghai Jiaotong University Shanghai |
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| Institution: | Robot Lab,Shanghai J iaotong University,Shanghai,200030 |
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| Abstract: | This paper introduces a 3-dof hybrid robotic manipulator which is constructed by combining a parallel mechanism and a pantograph to increase stiffness as well as workspace. And by analyzing its kinematics and dynamics with Lagrange's method, the dynamic model is obtained which is essential for feed-forward control of the manipulator. An explicit solution is given out. Finally, a simulation test is carried out on computers. |
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| Keywords: | Hybrid robotic mechanism Dynamics computer simulation |
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