{"title":"冗余驱动并联机构运动学和动力学模型的不确定性","authors":"F. Prochazka, M. Valášek","doi":"10.21495/5896-3-420","DOIUrl":null,"url":null,"abstract":": The paper deals with modeling of redundantly actuated parallel mechanisms. A calculation method how to obtain a quantitative information about kinematic and dynamic model accuracy is presented. This method is based on utilization uncertain model parameters such as geometric and dynamic parameters with bounded deviations. The proposed method is tested on the parallel redundantly actuated planar 4RRR mechanism “Crosshead”. Finally obtained results are discussed.","PeriodicalId":383836,"journal":{"name":"Engineering Mechanics 2020","volume":"184 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"UNCERTAINTIES OF KINEMATIC AND DYNAMIC MODEL OF REDUNDANTLY ACTUATED PARALLEL MECHANISMS\",\"authors\":\"F. Prochazka, M. Valášek\",\"doi\":\"10.21495/5896-3-420\",\"DOIUrl\":null,\"url\":null,\"abstract\":\": The paper deals with modeling of redundantly actuated parallel mechanisms. A calculation method how to obtain a quantitative information about kinematic and dynamic model accuracy is presented. This method is based on utilization uncertain model parameters such as geometric and dynamic parameters with bounded deviations. The proposed method is tested on the parallel redundantly actuated planar 4RRR mechanism “Crosshead”. Finally obtained results are discussed.\",\"PeriodicalId\":383836,\"journal\":{\"name\":\"Engineering Mechanics 2020\",\"volume\":\"184 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Engineering Mechanics 2020\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.21495/5896-3-420\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Engineering Mechanics 2020","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.21495/5896-3-420","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
UNCERTAINTIES OF KINEMATIC AND DYNAMIC MODEL OF REDUNDANTLY ACTUATED PARALLEL MECHANISMS
: The paper deals with modeling of redundantly actuated parallel mechanisms. A calculation method how to obtain a quantitative information about kinematic and dynamic model accuracy is presented. This method is based on utilization uncertain model parameters such as geometric and dynamic parameters with bounded deviations. The proposed method is tested on the parallel redundantly actuated planar 4RRR mechanism “Crosshead”. Finally obtained results are discussed.
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