Coordinative dynamics analysis of a parallel manipulator with three grippers
文献类型：期刊论文
| 作者 | Lu Y(路懿); Wang P(王鹏) ; Hou ZL(侯卓磊); Hu B(胡波); Sui CP(隋春平); Han JD(韩建达)
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| 刊名 | International Journal of Robotics and Automation
 |
| 出版日期 | 2014 |
| 卷号 | 29期号:2页码:184-192 |
| 关键词 | Computer simulation Dynamics Kinematics Manipulators |
| ISSN号 | 0826-8185 |
| 产权排序 | 3 |
| 通讯作者 | 路懿 |
| 中文摘要 | A kinetostatic model and a dynamics model of a parallel manipulator (PM) with three grippers are established and analyzed in the light of its application. First, the coordinative kinematics of this manipulator and three grippers are analyzed. Second, the kinetostatic formulae are derived for transforming the coordinative kinematics and forces applied on the grippers into the workloads applied on the moving platform and the active/constrained forces and torques applied onto active legs. Third, the dynamics formulae are derived for solving dynamic active wrench of grippers and PM by considering inertial mass of the grippers, legs and platform. Finally, a numerical example is given for illustrating application of kinetostatic model and dynamics formulae, and the dynamics solutions of this manipulator are verified by simulation. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Robotics |
| 研究领域[WOS] | Automation & Control Systems ; Robotics |
| 关键词[WOS] | HOMOGENEOUS MATRIX APPROACH ; INVERSE DYNAMICS ; VIRTUAL WORK ; KINEMATICS ; PRINCIPLE ; DESIGN |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000334154600007 |
| 源URL | [http://ir.sia.cn/handle/173321/15117]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Lu Y,Wang P,Hou ZL,et al. Coordinative dynamics analysis of a parallel manipulator with three grippers[J]. International Journal of Robotics and Automation,2014,29(2):184-192. |
| APA | Lu Y,Wang P,Hou ZL,Hu B,Sui CP,&Han JD.(2014).Coordinative dynamics analysis of a parallel manipulator with three grippers.International Journal of Robotics and Automation,29(2),184-192. |
| MLA | Lu Y,et al."Coordinative dynamics analysis of a parallel manipulator with three grippers".International Journal of Robotics and Automation 29.2(2014):184-192. |
入库方式： OAI收割
来源：沈阳自动化研究所
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