Title :
Inverse kinematics analysis of a novel parallel robot with large workspace
Author_Institution :
Coll. of Eng. & Technol., Northeast Forestry Univ., Harbin, China
Abstract :
A novel 6-PRRS parallel robot was developed which has the characteristics of movement rapidity and larger workspace. The mechanism structure of the 6-PRRS parallel robot is described in detail. Based on the strategy of simplifying the dynamic model a virtual work principle based Lagrange method is proposed to build the inverse dynamics of the 6-PRRS parallel robot. Experiments show that the proposed dynamic method is effective and feasible.
Keywords :
robot dynamics; robot kinematics; 6-PRRS parallel robot; Lagrange method; inverse dynamics; inverse kinematics analysis; movement rapidity; virtual work principle; workspace; Acceleration; Business; Educational institutions; Equations; Forestry; Heuristic algorithms; Kinematics; Lagrangian functions; Parallel robots; Torque; Dynamics; Parallel robot; Workspace;
Conference_Titel :
Logistics Systems and Intelligent Management, 2010 International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-7331-1
DOI :
10.1109/ICLSIM.2010.5461164
