Abstract
The dynamics modeling of 6-PRRS parallel robot is presented in order to solve the conflict between the complex calculation of parallel robot's dynamics model and the real-time control with high precision. The principle of virtual work was used to get the full dynamics model with the consideration of effects of all parts' gravity and inertial force. The dynamics model was simulated and analyzed under various work situations, and effects of all parts' gravity and inertial on driving force were studied. A simplified strategy is presented. It can reduce the computational complexity and improve the computing efficiency, which provides a basis for the control and parameter estimation of parallel robot.
| Original language | English |
|---|---|
| Pages (from-to) | 53-57 |
| Number of pages | 5 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 41 |
| Issue number | 1 |
| State | Published - Jan 2009 |
Keywords
- Dynamics
- Parallel robot
- Parameter identification
- Real-time control
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