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Języki publikacji
Abstrakty
The inverse dynamics method is applied to the investigation of dynamical behavior of a parallel manipulator. The substructure technique is used for creating a differential-algebraic system of equations that describes motion of the Stewart-Gough platform. The system of equations is modified into a set of linear differential equations for the determination of the solution of the inverse dynamics problem. A computational algorithm is developed to solve the inverse dynamics of the manipulator. Several trajectories of the moving platform are simulated as a result of the inverse dynamics problem of the Stewart-Gough platform according to the substructure technique.
Czasopismo
Rocznik
Tom
Strony
329--342
Opis fizyczny
Bibliogr. 18 poz., rys.
Twórcy
autor
- Hung Yen University of Technology and Education, Hung Yen, Viet Nam
autor
- Technical University of Liberec, Liberec, Czech Republic
Bibliografia
- 1. Angeles J., 1997, Fundamentals of Robotic Mechanical Systems, Springer Verlag, New York, N.Y.
- 2. Codourey A., Burdet E., 1997, A body-oriented method for finding a linear form of the dynamic equation of fully parallel robots, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, 1612-1618.
- 3. Do W., Yang D., 1988, Inverse dynamic analysis and simulation of a platform type of robot, Journal of Robotic Systems, 5, 53, 209-227.
- 4. Etemadi Zanganeh K., Sinatra R., Angeles J., 1997, Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs, Robotica, 15, 385-394.
- 5. Guglielmetti P., Longchamp R., 1994, A closed form inverse dynamics model of the delta parallel robot, Proceedings of International Federation of Automatic Control Conference on Robot Control, 39-44.
- 6. Khang N.V., 2007, Dynamics of Multibody Systems, Publishing Company of Science and Technology, Ha Noi.
- 7. Khang N.V., 2010, Consistent definition of partial derivatives of matrix functions in dynamics of mechanical systems, Mechanism and Machine Theory, 45, 981-988.
- 8. Khang N.V., 2011, Kronecker product and a new matrix form of Lagrangian equations with multipliers for constrained multibody systems, Mechanics Research Communications, 38, 294-299.
- 9. Khang N.V., 2013, Inverse dynamics of constrained multibody systems, Vietnam Journal of Mechanics, VAST, 35.
- 10. Lebret G., Liu K., Lewis F., 1993, Dynamic analysis and control of a stewart platform manipulator, Journal of Robotic Systems, 10, 5, 629-655.
- 11. Miller K., 1995, Experimental verification of modeling of delta robot dynamics by application of Hamilton’s principle, Proceedings of the 1995 IEEE International Conference on Robotics and Automation, 532-537.
- 12. Miller K., Clavel R., 1992, The Lagrange-based model of delta-4 robot dynamics, Robotersysteme, 8, 49-54.
- 13. Pang H., Shahingpoor M., 1994, Inverse dynamics of a parallel manipulator, Journal of Robotic Systems, 11, 8, 693-702.
- 14. Tsai K., Kohli D., 1990, Modified Newton-Euler computational scheme for dynamic analysis and simulation of parallel manipulators with applications to configuration based on R-L actuators, Proceedings of ASME Design Engineering Technical Conferences, 24, 111-117.
- 15. Tsai L.W., 2000, Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work, Journal of Mechanical Design, 122, 3-9.
- 16. Wang J., Gosselin C.M., 1997, Dynamic analysis of spatial four degree-of-freedom paralel manipulators, Proceedings the 1997 ASME Design Engineering Technical Conferences, Sacramento, CA, Paper No.DETC97/DAC3759.
- 17. Wang J., Gosselin C., 1998, A new approach for the dynamic analysis of parallel manipulators, Multibody System Dynamics, 2, 317-334.
- 18. Zhang C.D., Song S.M., 1993, An efficient method for inverse dynamics of manipulators based on the virtual work principle, Journal of Robotic Systems, 10, 5, 605-627.
Uwagi
„Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).”
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-504b18f6-5ba0-4bce-865f-4f5925b686c9