Title :
Dynamic analysis of a parallel kinematic planer
Author :
Hongjun, Liu ; Shuai, Li ; Yingzi, Wei
Author_Institution :
Shenyang Ligong Univ., Shenyang, China
Abstract :
Parallel kinematic planer is a new type of PKM. For PKM, dynamic character analysis is important to the mechanism´s control. The paper reviews the conceptions of the PKM´s dynamic and its analyses method. The paper describes a kind of 4-dof parallel kinematic mechanism with D-H method. By utilizing Newton-Euler approach, the dynamic model of the mechanism is developed, and meanwhile the detailed calculation process is present too. Finally the paper simulates the dynamic model with the Matlab software. The simulation results indicate the mechanism´s dynamic character and are same as actual process controlling.
Keywords :
Newton method; robot dynamics; robot kinematics; D-H method; Denavit-Hartenberg parameters; Newton Euler approach; dynamic character analysis; parallel kinematic planer; process control; Acceleration; Dynamics; Equations; Force; Kinematics; Mathematical model; Torque; D-H method; Newton-Euler; dynamic model; parallel kinematic planer;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554584
