Inverse Dynamics of A 3?DOF Parallel Mechanism Based on Analytical Forward Kinematics|Ke Wang;Ju Li;Huiping Shen;Jingjing You;Tingli Yang|College of Mechanical and Electronic Engineer-ing,Nanjing Forestry University,Nanjing 210042,China - 期刊导航|首站-论文投稿智能助手|论文发表|论文智能投稿|期刊自助发表推荐|杂志社快速发表|查同导刊-域田数据官方网站

典型文献

Inverse Dynamics of A 3?DOF Parallel Mechanism Based on Analytical Forward Kinematics

文献摘要：

For the development of a parallel mechanism (PM), it is necessary to establish a dynamic model which can accurately meet the requirements of real-time control. Compared with the general dynamic analysis model based on the inverse kinematics, the dynamic analysis model based on the forward kinematics has the advantage of low-complexity. In this paper, a new type of 3-DOF PM with analytical forward displacement analysis is proposed. Different from the general dynamic analysis based on the inverse kinematics, the displacement, velocity and acceleration equations of the PM are established and solved by forward kinematics. The inverse dynamic equation of the PM is constructed and solved by analyzing the forces on each link and based on Newton-Euler method. Then the theoretical results of an example are compared with the simulation results, which shows that the simulation results are basically consistent with the theoretical results. And the maximum error of the driving force of each pair is 1.32％, 5.8％ and 5.2％, respectively, which verifies the correctness of the dynamic model. The PM has a potential application prospect in the grasping, spraying and picking of workpieces. The research results of this paper provide a theoretical basis for the design, manu-facture and application of the PM.

文献关键词：

中图分类号：

[1] 自动化技术、计算机技术（TP） / 计算技术、计算机技术（TP3） / 计算机的应用（TP39） / 信息处理(信息加工)（TP391）

[2] 天文学、地球科学（P） / 地球物理学（P3） / 空间物理（P35）

[3] 经济（F） / 工业经济（F4） / 中国工业经济（F42）

作者姓名：

Ke Wang;Ju Li;Huiping Shen;Jingjing You;Tingli Yang

作者机构：

Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou 213016,China;College of Mechanical and Electronic Engineer-ing,Nanjing Forestry University,Nanjing 210042,China

文献出处：

中国机械工程学报

引用格式：

[1]Ke Wang;Ju Li;Huiping Shen;Jingjing You;Tingli Yang-.Inverse Dynamics of A 3?DOF Parallel Mechanism Based on Analytical Forward Kinematics)[J].中国机械工程学报,2022(05):212-221

A类：

facture

B类：

Inverse,Dynamics,DOF,Parallel,Mechanism,Based,Analytical,Forward,Kinematics,development,parallel,mechanism,PM,necessary,dynamic,model,which,can,accurately,meet,requirements,real,control,Compared,general,analysis,inverse,kinematics,forward,has,advantage,low,complexity,this,paper,new,type,analytical,displacement,proposed,Different,from,velocity,acceleration,equations,established,solved,by,constructed,analyzing,forces,each,link,Newton,Euler,method,Then,theoretical,results,example,compared,simulation,shows,that,basically,consistent,And,maximum,error,driving,pair,respectively,verifies,correctness,potential,application,prospect,grasping,spraying,picking,workpieces,research,provide,basis,design,manu

AB值：

0.515331

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