Kinematic and Dynamic Analysis of 6-UPS Parallel Robot
نویسندگان
چکیده
ABSTRACT: Kinematics and dynamics analysis of a 6-DOF parallel robot is performed. The mechanism of this parallel robot is composed of a moving platform and a static platform, the platform are linked by 6-UPS branched chains. The position and pose of the robot moving platform are totally described by 6 variables, including 3 displacement and 3 angles of a reference point on the platform. Firstly, the constraint equations between the 6 pose parameters of the robot manipulator are deduced, and the analysis of the variables are given. Then, the dynamic equations of the parallel robot are established based on Lagrange equation. Based on this, the variations of angular velocity, driving force / torque and energy consumption of the component are analyzed by an example. The analysis is very important for the study of dynamic performance analysis, optimal design and control of the parallel mechanism.
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