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Abstract: 6-DOF
hydraulically driven parallel robot mainly consists of two systems:
mechanical subsystem and hydraulic subsystem. These two subsystems can
be modeled as multi-rigid body dynamics and hydraulic dynamics
respectively. According to a bilateral coupling between the two
subsystems, the integrated dynamic model of 6-DOF parallel robot is set
up in operating-space. Through mapping operating-space dynamic model
onto joint-space using jacobian transformation, joint-space model of
6-DOF parallel robot is derived. And interactions characteristics among
the channels are analyzed when 6-DOF parallel robot is in several
typical poses. The results show that strong couplings exist among
channels in the whole workspace and such couplings vary along with the
poses of 6-DOF parallel robot. And such couplings will influence the
equivalent load inertia acting on each channel which will bring
difficulties to 6-DOF parallel robot control.
Key words: Parallel
robot Joint-space Dynamic coupling 6-DOF
CLC No: TP242.2
教育部新世纪优秀人才支持计划资助项目(NCET-04-0325). Received
20050826, received in revised form 20051217
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