TY - GEN
T1 - Static balancing and dynamic modeling of a three-degree-of-freedom parallel kinematic manipulator
AU - Zhang, Dan
AU - Gao, Feng
AU - Hu, Xiaolin
AU - Gao, Zhen
PY - 2011
Y1 - 2011
N2 - This research is concerned with the design and analysis of a parallel kinematic manipulator (PKM) with three degrees of freedom (DOF). The proposed PKM combining the spatial rotational and translational degrees of freedom has varied advantages and good potential applications of materials handling. First, the static balancing of the parallel manipulator is investigated. The definition and methodology of static balancing are introduced. Two methods including adjusting kinematic parameters and counterweights are applied to the structure and the counterweights method leads to static balancing of the PKM. The conditions of static balancing are given. Then the dynamic model of the proposed PKM is deduced. It describes the relationship between the driving forces and the motion of the end-effector platform. Two approaches, the Newton-Euler and the Lagrange methods, are compared and the later one is selected to build the dynamic model of the 3-DOF tripod mechanism.
AB - This research is concerned with the design and analysis of a parallel kinematic manipulator (PKM) with three degrees of freedom (DOF). The proposed PKM combining the spatial rotational and translational degrees of freedom has varied advantages and good potential applications of materials handling. First, the static balancing of the parallel manipulator is investigated. The definition and methodology of static balancing are introduced. Two methods including adjusting kinematic parameters and counterweights are applied to the structure and the counterweights method leads to static balancing of the PKM. The conditions of static balancing are given. Then the dynamic model of the proposed PKM is deduced. It describes the relationship between the driving forces and the motion of the end-effector platform. Two approaches, the Newton-Euler and the Lagrange methods, are compared and the later one is selected to build the dynamic model of the 3-DOF tripod mechanism.
UR - http://www.scopus.com/inward/record.url?scp=84860231726&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5979590
DO - 10.1109/ICRA.2011.5979590
M3 - Conference article published in proceeding or book
AN - SCOPUS:84860231726
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3211
EP - 3217
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -