Dynamic analysis of spherical 5R parallel manipulator

Author

Zhang, Li-Jie ; Li, Yong-Quan ; Guo, Ya-Qing

Author_Institution

Hebei Key Lab. of Heavy Machinery Fluid Power Transm. & Control, Yanshan Univ., Qin, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

1510

Lastpage

1514

Abstract

The research subject of this paper is spherical 5R parallel manipulator, on the basis of analysis of kinematics of the manipulator, the dynamic model of the manipulator was established by virtue of Lagrange method, and via numerical calculating example, the dynamic model of the manipulator was simulated by two software Matlab and ADAMS, by comparing the results obtained by two software, we proved that the dynamic model of the spherical 5R parallel manipulator is right, which provide theoretical foundation for manufacturing sample.

Keywords

manipulator dynamics; manipulator kinematics; numerical analysis; ADAMS; Lagrange method; Matlab; dynamic analysis; manipulator kinematics; software; spherical 5R parallel manipulator; Analytical models; Fluid dynamics; Kinematics; Lagrangian functions; Manipulator dynamics; Mathematical model; Performance analysis; Pulp manufacturing; Surface emitting lasers; Virtual manufacturing; ADAMS; Dynamics; Spherical 5R; parallel manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246184

Filename

5246184