Abstract
A dynamics model of 6-UPS parallel manipulator is presented. In order to construct a complete dynamic model with the effect of all parts gravity and inertia force, a serial of coordinates on parts are defined with D-H method and a kinematics analysis on a single chain of legs is carried out. As a result, closed-form equations for the inverse kinematics and velocity and acceleration transformations from joint space to task space are given. A group of dynamic formulations are deduced by the Newton-Euler approach, which is widely used for serial manipulators. As an example, leg forces of a parallel machine tool are calculated and the force curves are drawn.
| Original language | English |
|---|---|
| Pages (from-to) | 53-57 |
| Number of pages | 5 |
| Journal | Jixie Gongcheng Xuebao/Journal of Mechanical Engineering |
| Volume | 38 |
| Issue number | 11 |
| DOIs | |
| State | Published - Nov 2002 |
Keywords
- Dynamics
- Kinematics
- Parallel Machine tool
- Parallel mechanism
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