Title :
Dynamic Modeling of Spatial 6-DOF Parallel Robots Using Kane Method for Control Purposes
Author :
Yang, Chifu ; Huang, Qitao ; Ye, Zhengmao ; Han, Junwei
Author_Institution :
Dept. Mech. & Electr. Eng., Harbin Inst. of Technol., Harbin, China
Abstract :
This paper readdressed the dynamics for spatial 6-DOF parallel robots (PR). With a view of improving the computational efficiency of dynamic equations and simplifying the modeling of PR, PR is regarded as seven rigid bodies, ignoring the complex dynamics of cylinder, and the dynamic equations are derived by using Kane method. The relationship of components of PR is described with geometric algorithms. SimMechanics is employed to build the full computer model of PR for verifying the dynamic equations. Simulation results show that the dynamic model of PR is accurate and effective, and it is more efficient for real time control.
Keywords :
manipulators; motion control; 6-DOF; Kane method; degree of freedom; dynamic equations; geometric algorithms; parallel robots; real time control; rigid bodies; Dynamics; Equations; Leg; Manipulator dynamics; Mathematical model; Parallel robots; Kane method; dynamics; modelling; parallel robots;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2010 2nd International Conference on
Conference_Location :
Nanjing, Jiangsu
Print_ISBN :
978-1-4244-7869-9
DOI :
10.1109/IHMSC.2010.145
