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Abstract:
The rigid body dynamic model of the parallel kinematic machine (PKM) is
complicated and difficult to be used in the real-time control system.
Under the accelerated motion and the decelerated motion, a study on the
simplification of the rigid body dynamic model for a 6-UPS PKM is
presented. Firstly, the dynamic model is established through Newton-Euler
approach and decomposed into eighteen items. According to the working
situation, the rigid body dynamic characteristics of the PKM are
investigated by the means of numerical simulation. Finally, the
simplifying strategies of the dynamic model are presented and verified.
It is proved by the verification results that the strategies improve the
computational efficiency greatly and only bring small simplifying
errors.
Key words: Parallel kinematic machine Rigid body dynamic model Rigid
body dynamic characteristic Simplifying strategy
CLC No: TP242
国家863高科技资助项目(2001AA423260).
Received 20021107, received in revised form 20030708
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