DocumentCode
2318535
Title
Inverse kinematics analysis of a novel parallel robot with large workspace
Author
Li, Liu
Author_Institution
Coll. of Eng. & Technol., Northeast Forestry Univ., Harbin, China
Volume
2
fYear
2010
fDate
9-10 Jan. 2010
Firstpage
1259
Lastpage
1262
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Logistics Systems and Intelligent Management, 2010 International Conference on
Conference_Location
Harbin
Print_ISBN
978-1-4244-7331-1
Type
conf
DOI
10.1109/ICLSIM.2010.5461164
Filename
5461164
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