RESEARCH ON RIGID BODY INVERSE DYNAMICS OF A NOVEL 6-PRRS PARALLEL ROBOT
2018 ◽
Vol 18
(08)
◽
pp. 1840037
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A systematic methodology for solving the inverse dynamics of a 6-PRRS parallel robot is presented. Based on the principle of virtual work and the Lagrange approach, a methodology for deriving the dynamical equations of motion is developed. To resolve the inconsistency between complications of established dynamic model and real-time control, a simplifying strategy of the dynamic model is presented. The dynamic character of the 6-PRRS parallel robot is analyzed by example calculation, and a full and precise dynamic model using simulation software is established. Verification results show the validity of the presented algorithm, and the simplifying strategies are practical and efficient.
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2019 ◽
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