Paper Info
Title
Dynamic Modeling and Solution of 6-DOF Parallel Mechanism
Abstract
When a parallel robot used in a scene that requires force control, rapid attitude adjustment, or precise positioning, we need to know the dynamic characteristics of the moving platform and the motion branch, so it is necessary to do the dynamic analysis of the parallel robot. In this study, for the six-degree-of-freedom parallel mechanism, the Newton-Eulerian method is used to model the dynamics, and then the inverse dynamics simulation is performed through the ADAMS simulation software to verify the correctness of the established dynamic equations. Finally, the Euler integration method is used to solve the dynamic equations numerically. When establishing dynamic equations, it is more convenient to use spiral coordinates to express the angular motion of the motion platform of the parallel mechanism. However, it is difficult to solve the equation numerically. When solving the equations in this study, Euler angles are used to express angular motion. The Euler angle is used as an iterative variable representing the angular motion in the solving process. Then the Euler angle is converted into a rotation matrix, and the parameters of the spiral coordinates are obtained through the rotation matrix, and the dynamic equation is finally solved. The simulation and calculation results show that the established dynamic equation is correct, and the solution to the dynamic equation is also correct.
Year
DOI
Venue
2022
10.1109/ACCESS.2022.3162367
IEEE ACCESS
Keywords
DocType
Volume
Mathematical models, Dynamics, Manipulator dynamics, Analytical models, Parallel robots, Dynamic programming, Performance analysis, Newton-Euler method, dynamic equations, Euler integration method, solution of the dynamic equation
Journal
10
ISSN
Citations 
PageRank 
2169-3536
0
0.34
References 
Authors
0
2
Name
Order
Citations
PageRank
Xuedong Jing100.68
Cheng Li227939.13