Title :
Study of 3-RRRU Parallel Manipulator for its Dynamics Based on Method Kane
Author :
Lihua, Wang ; Xinhua, Zhao ; Guangzhu, Meng
Author_Institution :
Tianjin Key Lab. for Control Theor. & Applic. in Complicated Syst., Tianjin Univ. of Technol., Tianjin, China
Abstract :
Focused on 3-RRRU parallel manipulator, this paper sets up its kinematic modeling through vector analysis. Then, velocity, angular velocity, partial velocity, partial angular velocity, acceleration, and angular acceleration are presented for every bar in every leg. Further, dynamic modeling of 3-RRRU parallel manipulator is established and analyzed under appropriate generalized coordinates. Finally, a numerical simulation example is given.
Keywords :
manipulator dynamics; manipulator kinematics; 3-RRRU parallel manipulator; dynamic modeling; kinematic modeling; method kane; vector analysis; Dynamics; Equations; Force; Leg; Manipulator dynamics; Mathematical model; Dynamic modeling; Kane´s Method; Numerical simulation; Parallel manipulator;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.667
