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Abstract: A
modular computation method for inverse kinematics and dynamics of
spatial parallel manipulator is investigated. It improves the
calculation efficiency so that real-time control can be realized. Based
on the analytic kinematic and dynamic solutions of chains, the inverse
dynamic models of spatial parallel manipulator are established using the
Newton—Euler approach and Lagrange multiplier. A software architecture
for the inverse kinematics and dynamics of spatial parallel manipulator
is presented. The results show that the method can be used for the
automatic generation of inverse kinematic and dynamic solutions and
reconfiguration design of non-redundant spatial parallel manipulator. As
an illustration, a novel parallel manipulator is analyzed using this
method.
Key
words: Parallel
manipulator Kinematics Dynamics
CLC No: TP242
国家863高科技计划(2001AA421110)和国家自然科学基金(50275084)资助项目.
Received 20041209, received in revised form 20050205 |