Title :
Dynamic analysis of spherical 5R parallel manipulator
Author :
Zhang, Li-Jie ; Li, Yong-Quan ; Guo, Ya-Qing
Author_Institution :
Hebei Key Lab. of Heavy Machinery Fluid Power Transm. & Control, Yanshan Univ., Qin, China
Abstract :
The research subject of this paper is spherical 5R parallel manipulator, on the basis of analysis of kinematics of the manipulator, the dynamic model of the manipulator was established by virtue of Lagrange method, and via numerical calculating example, the dynamic model of the manipulator was simulated by two software Matlab and ADAMS, by comparing the results obtained by two software, we proved that the dynamic model of the spherical 5R parallel manipulator is right, which provide theoretical foundation for manufacturing sample.
Keywords :
manipulator dynamics; manipulator kinematics; numerical analysis; ADAMS; Lagrange method; Matlab; dynamic analysis; manipulator kinematics; software; spherical 5R parallel manipulator; Analytical models; Fluid dynamics; Kinematics; Lagrangian functions; Manipulator dynamics; Mathematical model; Performance analysis; Pulp manufacturing; Surface emitting lasers; Virtual manufacturing; ADAMS; Dynamics; Spherical 5R; parallel manipulator;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246184
