Dynamic analysis of 3-RRC parallel manipulator - 文章详情页

作者：

Liu, Shanzeng (Liu, Shanzeng.) | Yu, Yueqing (Yu, Yueqing.) (学者：余跃庆) | Liu, Qingbo (Liu, Qingbo.) | Su, Liying (Su, Liying.) | Si, Guoning (Si, Guoning.)

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摘要：

The　dynamic　analysis　of　a　spatial　3-DOF　parallel　manipulator　(3-RRC　parallel　manipulator)　is　presented.　The　architecture　of　the　mechanism　is　composed　of　a　moving　platform　attached　to　a　fixed　platform　through　three　identical　revolute-revolute-column　jointed　serial　linkages.　First,　the　dynamic　equation　of　a　3-RRC　parallel　manipulator　based　on　the　Lagrange　equation　is　presented,　and　the　dynamic　character　of　the　mechanism　is　analyzed.　Then,　the　changes　of　equivalent　moment　of　inertia,　actuator　force/torque　and　energy　consumption　of　the　mechanism　are　analyzed　through　an　example.　The　results　of　numerical　simulation　show　that,　for　a　given　motion,　the　configuration　has　a　significant　influence　on　the　equivalent　moment　of　inertia　and　actuator　force/torque.　The　analysis　provides　necessary　information　for　dynamic　performance　analysis,　optimization　design　and　control　of　the　3-RRC　parallel　mechanism.

关键词：

Dynamics Equations of motion Lagrange multipliers Fixed platforms Mechanisms Actuators Dynamic analysis Energy utilization Manipulators

作者机构：

[ 1 ] [Liu, Shanzeng]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Liu, Shanzeng]School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China
[ 3 ] [Yu, Yueqing]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Liu, Qingbo]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 5 ] [Su, Liying]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 6 ] [Si, Guoning]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China

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电子邮件地址：

liushanzeng@163.com

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