Dynamics modeling for a novel 3-DOF dual parallel manipulator considering the flexibility of compliant components

Yuan Yun, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

This paper is concerned with the design and modeling of a 3-DOF dual parallel robot with flexure hinges. Based on our previous research experiences in the systematical modeling and study of parallel robots, a dynamic modeling has been performed by using Kane's method and Newton- Euler equation. A state-space framework is defined to facilitate the design of an optimal controller. Numerical simulations are presented to verify the validity of both models. The investigations of this paper may not only have significance in robotics research, but also make contributions to the research on dynamic characteristics based on novel parallel manipulators.
Original languageEnglish
Title of host publication2009 IEEE International Conference on Information and Automation, ICIA 2009
Pages1410-1415
Number of pages6
DOIs
Publication statusPublished - 23 Nov 2009
Externally publishedYes
Event2009 IEEE International Conference on Information and Automation, ICIA 2009 - Zhuhai, Macau, China
Duration: 22 Jun 200925 Jun 2009

Conference

Conference2009 IEEE International Conference on Information and Automation, ICIA 2009
Country/TerritoryChina
CityZhuhai, Macau
Period22/06/0925/06/09

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Science Applications
  • Control and Systems Engineering

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