DocumentCode
2627399
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
Volume
3
fYear
2011
fDate
6-7 Jan. 2011
Firstpage
385
Lastpage
388
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location
Shangshai
Print_ISBN
978-1-4244-9010-3
Type
conf
DOI
10.1109/ICMTMA.2011.667
Filename
5721504
Link To Document