کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413452 | 680513 | 2011 | 7 صفحه PDF | دانلود رایگان |
Recursive matrix relations for kinematics and dynamics analysis of a 2-DOF orienting gear train are established in this paper. The mechanism is a parallel system with five moving links and three bevel gear pairs controlled by two electric motors. Knowing the rotation motion of the end-effector, the inverse dynamic problem is solved using an approach based on the principle of virtual work and have verified the results in the framework of the Lagrange equations of the second kind. Finally, some graphs for the input angles of rotation, the forces and the powers of the actuators are obtained.
► Matrix relations for dynamics of a 2-DOF orienting gear train are established.
► The mechanism is a parallel system with five moving links and three bevel gear pairs.
► Dynamics problem is solved using an approach based on the principle of virtual work.
► Graphs for input angles of rotation, forces and powers of the actuators are obtained.
Journal: Robotics and Autonomous Systems - Volume 59, Issue 11, November 2011, Pages 923–929