Closed-form Dynamic Equations of the 6-RSS Parallel Mechanism through the Newton-Euler Approach

Author

Kunquan, Li ; Rui, Wen

Author_Institution

Henan Eng. Inst., Zhengzhou, China

Volume

1

fYear

2011

fDate

6-7 Jan. 2011

Firstpage

712

Lastpage

715

Abstract

The 6-RSS parallel robot is a parallel manipulator whose mobile platform has 6 DOF. In order to construct a complete dynamic model of 6-RSS parallel manipulator, a serial of coordinates on components were defined with D-H method and a kinematics analysis on a single chain was carried out. As a result, closed-form equations for the inverse kinematics and velocity and acceleration transformations from joint space to task space are given. The dynamics model of 6-RSS parallel mechanism is deduced based on the platform, as an example, the driving moment curves for circumferential translation are drawn. The paper´s work establishes the basis for dynamics analysis of mechanism with this type.

Keywords

Newton method; acceleration control; manipulator dynamics; manipulator kinematics; velocity control; 6-RSS parallel robot; D-H method; Newton-Euler approach; acceleration transformation; circumferential translation; closed-form dynamic equation; driving moment curve; dynamic model; inverse kinematics; parallel manipulator; velocity; Acceleration; Dynamics; Equations; Force; Joints; Manipulator dynamics; Mathematical model; 6-RSS Parallel Mechanism; Dynamic Equations; Kinematics; Newton-Euler method;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on

Conference_Location

Shangshai

Print_ISBN

978-1-4244-9010-3

Type

conf

DOI

10.1109/ICMTMA.2011.180

Filename

5720883