Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
A novel 6-PRRS parallel robot was developed which has the characteristics of movement rapidity and larger workspace. The mechanism structure of the 6-PRRS parallel robot is described in detail. Based on the strategy of simplifying the dynamic model a virtual work principle based Lagrange method is proposed to build the inverse dynamics of the 6-PRRS parallel robot. Experiments show that the proposed dynamic method is effective and feasible.
A novel 6-PRRS parallel robot was developed which has the characteristics of movement rapidity and larger workspace. The mechanism structure of the 6-PRRS parallel robot is described in detail. Based on the strategy of simplifying the dynamic model a virtual work principle based Lagrange method is proposed to build the inverse dynamics of the 6-PRRS parallel robot. Experiments show that the proposed dynamic method is effective and feasible.
Inverse kinematics analysis of a novel parallel robot with large workspace
Liu Li, (Autor:in)
01.01.2010
481298 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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