Dynamic Modeling and Solution of 6-DOF Parallel Mechanism
نویسندگان
چکیده
When a parallel robot used in scene that requires force control, rapid attitude adjustment, or precise positioning, we need to know the dynamic characteristics of moving platform and motion branch, so it is necessary do analysis robot. In this study, for six-degree-of-freedom mechanism, Newton-Eulerian method model dynamics, then inverse dynamics simulation performed through ADAMS software verify correctness established equations. Finally, Euler integration solve equations numerically. establishing equations, more convenient use spiral coordinates express angular mechanism. However, difficult equation solving angles are motion. The angle as an iterative variable representing process. Then converted into rotation matrix, parameters obtained finally solved. calculation results show correct, solution also correct.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2022
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2022.3162367