Title :
Kinematic and dynamic analysis of 2-RRC+SPS parallel manipulator
Author :
Han, Yongci ; Zhao, Xinhua ; Meng, Guangzhu
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin, China
Abstract :
A novel 2-RRC+SPS parallel manipulator with three translational movements is proposed. The kinematics and dynamics of the manipulator is analyzed. According to its geometric model, a kinematic equation is derived, from which can obtain direct and inverse solution of position. The inverse solution of velocity and acceleration are also derived. The dynamic equation of the manipulator based on the Lagrange equation is presented. Simulation results of the manipulator are obtained by using MATLAB software.
Keywords :
manipulator dynamics; manipulator kinematics; 2-RRC+SPS parallel manipulator; Lagrange equation; MATLAB software; dynamic analysis; dynamic equation; geometric model; kinematic analysis; kinematic equation; Acceleration; Dynamics; Equations; Kinematics; Manipulator dynamics; Mathematical model;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723403
