Dynamics analysis of 6-HTRT parallel robots

Ren Wei Che; Nian Li Lu; Chang Sheng Hu

doi:10.3969/j.issn.1006-7043.2009.10.012

Dynamics analysis of 6-HTRT parallel robots

Ren Wei Che^*
, Nian Li Lu
, Chang Sheng Hu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

The equivalent finite element integrate method (EFEIM) is a normative and efficient modeling method for dynamic analysis of complex mechanisms. The key when establishing dynamic equations of spatial mechanisms is to confirm the corresponding second and third order conversion tensors related to the generalized coordinates and the moving joints and nodes of the system. To analyze the complex motion relationships of all components in a 6-HTRT parallel robot, this paper used EFEIM to derive second and third order conversion tensors of the dynamic equations. The method is suitable for solving motion problems with this type of robot in different positions in a work space and for different scales of mechanisms. The process used is simple and convenient.

Original language	English
Pages (from-to)	1146-1151
Number of pages	6
Journal	Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University
Volume	30
Issue number	10
DOIs	https://doi.org/10.3969/j.issn.1006-7043.2009.10.012
State	Published - Oct 2009

Keywords

Conversion tensor
Dynamics model
Equivalent finite element integrate method (EFEIM)
Parallel robot

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10.3969/j.issn.1006-7043.2009.10.012

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title = "Dynamics analysis of 6-HTRT parallel robots",

abstract = "The equivalent finite element integrate method (EFEIM) is a normative and efficient modeling method for dynamic analysis of complex mechanisms. The key when establishing dynamic equations of spatial mechanisms is to confirm the corresponding second and third order conversion tensors related to the generalized coordinates and the moving joints and nodes of the system. To analyze the complex motion relationships of all components in a 6-HTRT parallel robot, this paper used EFEIM to derive second and third order conversion tensors of the dynamic equations. The method is suitable for solving motion problems with this type of robot in different positions in a work space and for different scales of mechanisms. The process used is simple and convenient.",

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author = "Che, \{Ren Wei\} and Lu, \{Nian Li\} and Hu, \{Chang Sheng\}",

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T1 - Dynamics analysis of 6-HTRT parallel robots

AU - Che, Ren Wei

AU - Lu, Nian Li

AU - Hu, Chang Sheng

PY - 2009/10

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N2 - The equivalent finite element integrate method (EFEIM) is a normative and efficient modeling method for dynamic analysis of complex mechanisms. The key when establishing dynamic equations of spatial mechanisms is to confirm the corresponding second and third order conversion tensors related to the generalized coordinates and the moving joints and nodes of the system. To analyze the complex motion relationships of all components in a 6-HTRT parallel robot, this paper used EFEIM to derive second and third order conversion tensors of the dynamic equations. The method is suitable for solving motion problems with this type of robot in different positions in a work space and for different scales of mechanisms. The process used is simple and convenient.

AB - The equivalent finite element integrate method (EFEIM) is a normative and efficient modeling method for dynamic analysis of complex mechanisms. The key when establishing dynamic equations of spatial mechanisms is to confirm the corresponding second and third order conversion tensors related to the generalized coordinates and the moving joints and nodes of the system. To analyze the complex motion relationships of all components in a 6-HTRT parallel robot, this paper used EFEIM to derive second and third order conversion tensors of the dynamic equations. The method is suitable for solving motion problems with this type of robot in different positions in a work space and for different scales of mechanisms. The process used is simple and convenient.

KW - Conversion tensor

KW - Dynamics model

KW - Equivalent finite element integrate method (EFEIM)

KW - Parallel robot

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DO - 10.3969/j.issn.1006-7043.2009.10.012

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SN - 1006-7043

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JO - Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University

JF - Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University

IS - 10

ER -

Dynamics analysis of 6-HTRT parallel robots

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Keywords

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