An application of natural matrices to the dynamic balance problem of planar parallel manipulators

IF 1.9 4区计算机科学 Q3 ROBOTICS

Robotica Pub Date : 2024-09-19 DOI:10.1017/s0263574724001267

Jaime Gallardo-Alvarado

引用次数: 0

Abstract

This paper introduces a simplified matrix method for balancing forces and moments in planar parallel manipulators. The method resorts to Newton’s second law and the concept of angular momentum vector, yet it is not necessary to perform the velocity and acceleration analyses, tasks that were normally unavoidable in seminal contributions. With the introduction of natural matrices, the proposed balancing method is independent of the time and the trajectory generated by the moving links of parallel manipulators. The effectiveness of the method is exemplified by balancing two planar parallel manipulators.

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自然矩阵在平面平行机械手动态平衡问题中的应用

本文介绍了一种用于平衡平面平行机械手的力和力矩的简化矩阵方法。该方法采用牛顿第二定律和角动量矢量概念，但无需进行速度和加速度分析，而这些分析通常是开创性文章中不可避免的任务。由于引入了自然矩阵，所提出的平衡方法不受时间和平行机械手运动链路产生的轨迹的影响。该方法的有效性通过平衡两个平面平行机械手得到了体现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotica 工程技术-机器人学

CiteScore

4.50

自引率

22.20%

发文量

181

审稿时长

9.9 months

期刊介绍： Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.