Inverse dynamic analysis and simulation of a platform type of robot

Wiley - Tập 5 Số 3 - Trang 209-227 - 1988
W. Q. D.1, Dan Yang2
1General Dynamics, Pomona, CA 91769
2Mechanical, Aerospace and Nuclear Engineering Dept. University of California Los Angeles, CA 90024

Tóm tắt

AbstractThis article presents an algorithm to solve the inverse dynamics for platform type of manipulators using Newton‐Euler equations of motion. We found that the inverse dynamics of the system is governed by thirty‐six linear equations. The number of these simultaneous equations can be reduced to six, if a proper sequence is taken. The relationships between the actuating forces and the shape of the structure are analyzed. Based on the algorithm, computer code for simulation was developed. Three cases were studied. As a result, configurations which minimize the actuating forces are suggested. It is also found that the fluctuation of the driving forces is lesser when the path is closer to the center of the base. These results are believed to be useful in the design and control of this type of manipulating devices.

Từ khóa


Tài liệu tham khảo

Richard P. Paul, 1982, Robot Manipulators: Mathematics, Programming, and Control

10.1243/PIME_PROC_1965_180_029_02

McCallion H., 1979, The Analysis of a Six‐Degree‐of‐Freedom Work Station for Mechanised Assembly, 611

Fichter E. F., 1980, A Novel Design for a Robot Arm, 250

10.1115/1.3258578

Greenwood Donald T., 1965, Principles of Dynamics

Thông tin
Thông tin xuất bản

Wiley

Tập 5 Số 3

209-227

Thông tin tác giả