Title :
Closed-form Dynamic Equations of the 6-RSS Parallel Mechanism through the Newton-Euler Approach
Author :
Kunquan, Li ; Rui, Wen
Author_Institution :
Henan Eng. Inst., Zhengzhou, China
Abstract :
The 6-RSS parallel robot is a parallel manipulator whose mobile platform has 6 DOF. In order to construct a complete dynamic model of 6-RSS parallel manipulator, a serial of coordinates on components were defined with D-H method and a kinematics analysis on a single chain was carried out. As a result, closed-form equations for the inverse kinematics and velocity and acceleration transformations from joint space to task space are given. The dynamics model of 6-RSS parallel mechanism is deduced based on the platform, as an example, the driving moment curves for circumferential translation are drawn. The paper´s work establishes the basis for dynamics analysis of mechanism with this type.
Keywords :
Newton method; acceleration control; manipulator dynamics; manipulator kinematics; velocity control; 6-RSS parallel robot; D-H method; Newton-Euler approach; acceleration transformation; circumferential translation; closed-form dynamic equation; driving moment curve; dynamic model; inverse kinematics; parallel manipulator; velocity; Acceleration; Dynamics; Equations; Force; Joints; Manipulator dynamics; Mathematical model; 6-RSS Parallel Mechanism; Dynamic Equations; Kinematics; Newton-Euler method;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.180
