Title :
Dynamic formulation of the 2-DOF parallel platform with actuation redundancy and the designs of the drivers
Author :
Yang, Zhiyong ; Han, Di ; Hao, Dengyun
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ. Tianjin, Tianjin, China
Abstract :
On base of the principle of virtual work, the inverse dynamic model of the 2-DOF parallel platform is set up . The dynamic formulation is a system of equations including two equations and three unknown quantities referring to three driving forces. The optimum solution of the driving forces is carried out by employing the generalized inverse matrix with minimizing an objective function which is the square of the sum of three driving forces. The parameters of drivers are designed.
Keywords :
actuators; design engineering; drives; hydraulic drives; manipulator dynamics; matrix algebra; 2-DOF parallel platform; actuation redundancy; driver designs; driving forces; dynamic formulation; generalized inverse matrix; inverse dynamic model; virtual work; Acceleration; Dynamics; Equations; Kinematics; Manipulator dynamics; Mathematical model; Redundancy; Inverse dynamic; Parallel platform with actuation redundancy; Principle of virtual work; hydraulic drivers;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
DOI :
10.1109/MACE.2011.5986901
