Clavel型Delta并联机器人的动力学分析

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1242230

S. Staicu, D. Carp-Ciocardia

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引用次数: 86

摘要

建立了用于Delta并联机器人几何、运动学和动力学分析的迭代矩阵关系。该机械手的原型是由并联链系统组成的三自由度空间机构。假设平台的位置和平移运动已知，利用虚功率法求解了一个逆动力学问题。最后，确定了三个活动对的矩和幂的一些递归矩阵关系和一些图。

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Dynamic analysis of Clavel's Delta parallel robot

Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the virtual powers method. Finally, some recursive matrix relations and some graphs for the moments and the powers of the three active couples are determined.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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