Title :
Inverse dynamics of Hexa Parallel Robot based on the Lagrangian equations of first type
Author :
Wang Xiaorong ; Tian Yaping
Author_Institution :
Sch. of Mechatron. Eng., Lanzhou Jiaotong Univ., Lanzhou, China
Abstract :
Based on the Lagrangian equations of first type, the coordinate system is constructed according to the mechanical characteristics of Hexa Parallel Robot. The generalized coordinates are composed of six actuated independent coordinates plus redundant coordinates denoting the position and three Euler angles of active platform. After formulating the Lagrangian function, combining the constraint equations, the dynamics model of Hexa Parallel Robot is established.
Keywords :
constraint theory; manipulator dynamics; redundant manipulators; Hexa Parallel Robot; Lagrangian equations; constraint equations; coordinate system; inverse dynamics; redundant coordinates; six actuated independent coordinates; three Euler angles; Aerodynamics; Lagrangian functions; Mechatronics; Nonlinear equations; Parallel robots; Robot kinematics; Robotics and automation; Surgery; Telescopes; Vehicle dynamics; Dynamics; Hexa; the Lagrangian equations of first type;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-7737-1
DOI :
10.1109/MACE.2010.5535969
