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A Kane’s based algorithm for closed-form dynamic analysis of a new design of a 3RSS-S spherical parallel manipulator
Multibody System Dynamics ( IF 3.4 ) Pub Date : 2020-03-27 , DOI: 10.1007/s11044-020-09736-y
Javad Enferadi , Keyvan Jafari

This paper proposes a systematic methodology to obtain a closed-form formulation for dynamics analysis of a new design of a fully spherical robot that is called a 3(RSS)-S parallel manipulator with real co-axial actuated shafts. The proposed robot can completely rotate about a vertical axis and can be used in celestial orientation and rehabilitation applications. After describing the robot and its inverse position, velocity and acceleration analysis is performed. Next, based on Kane’s method, a methodology for deriving the dynamical equations of motion is developed. The elaborated approach shows that the inverse dynamics of the manipulator can be reduced to solving a system of three linear equations in three unknowns. Finally, a computational algorithm to solve the inverse dynamics of the manipulator is advised and several trajectories of the moving platform are simulated.

中文翻译:

基于凯恩算法的3RSS-S球形并联机械手新型设计的闭式动力学分析

本文提出了一种系统方法,以获得一种封闭形式的公式,该公式用于动力学设计的全球形机器人的新设计,该机器人称为带有真实同轴驱动轴的3(RSS)-S并联机械手。所提出的机器人可以绕垂直轴完全旋转,并且可以用于天体定向和康复应用。在描述了机器人及其反向位置之后,进行速度和加速度分析。接下来,基于凯恩的方法,开发了一种用于推导运动动力学方程的方法。详细的方法表明,可以将机械手的逆动力学简化为求解三个未知数中的三个线性方程组。最后,
更新日期:2020-03-27
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