Dynamic analysis of 5-DOF parallel machine tool with redundant actuation
文献类型：会议论文
| 作者 | Cheng L(程丽); Zhao YS(赵永生); Wang HG(王洪光)
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| 出版日期 | 2011 |
| 会议名称 | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 |
| 会议日期 | August 7-10, 2011 |
| 会议地点 | Beijing, China |
| 关键词 | Dynamics Equations of motion Machine tools Three dimensional |
| 页码 | 1945-1950 |
| 中文摘要 | A 5-degree of freedom (DOF) 5-UPS/PRPU parallel machine tool (PMT) with redundant actuation is introduced. The characteristic of the PMT is described. Based on the conventional Lagrange Equation, the dynamic formulation of this PMT with redundant actuation is derived. A novel force distribution method is proposed for redundant actuation. The constraint couple of the PRPU limb to the moving platform is deduced with the D' Alembert's principle. Then, the dynamic calculation of the redundant actuation limb is performed. Thus, the inverse dynamic solution can be derived. With ADAMS software, the three-dimensional entity model of the PMT is built and the dynamic simulations are carried out through some typical motion. The simulation results are consistent with the theoretical calculation, which proves the correctness of the theoretical deduction and the feasibility of the simulation analysis. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robotics and Automation Society; Beijing University of Technology; Kagawa University |
| 会议录 | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
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| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-8114-9 |
| 源URL | [http://ir.sia.cn/handle/173321/7714]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Cheng L,Zhao YS,Wang HG. Dynamic analysis of 5-DOF parallel machine tool with redundant actuation[C]. 见:2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. Beijing, China. August 7-10, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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