کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10420542 | 905095 | 2005 | 17 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Kinematic and dynamic modelling for real-time control of Tau parallel robot
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
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چکیده انگلیسی
This paper presents the methodology of the kinematic and dynamic modeling for a newly developed parallel robot with the so-called Tau configuration. A set of analytical kinematic solutions has been developed for this parallel structure. A rigid body dynamic model has been formulated based on the principle of virtual work. Specific requirements including model term separation for real-time model based motion control are addressed in the analytical solutions, which are verified by both numerical simulation and actual experiments. This analytical approach enables the real-time control of this parallel robot with high positioning accuracy.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 40, Issue 9, September 2005, Pages 1051-1067
Journal: Mechanism and Machine Theory - Volume 40, Issue 9, September 2005, Pages 1051-1067
نویسندگان
Zhenqi Zhu, Jinsong Li, Zhongxue Gan, Hui Zhang,