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Abstract: A
dynamics model of 6—UPS parallel manipulator is presented. In order to
construct a complete dynamic model with the effect of all parts’ gravity
and inertia force, a serial of coordinates on parts are defined with D—H
method and a kinematics analysis on a single chain of leg is 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. A group of dynamic formulations are deduced by the Newton-Euler
approach, which is widely used for serial manipulators. As an example,
legs forces of a parallel machine tool are calculated and the force
curves are drawn.
Key words: Kinematics Dynamics Parallel mechanism Parallel machine
tool
CLC No: TP241
TH113.2
国家自然科学基金资助项目(59875004). Received 20010930, received in revised form
20020715
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