Kinematic and dynamic modeling of a robotic head with linear motors
作者： Saeid Nahavandi , Hieu Trinh , Sameh Refaat , Mohammad Jashim Uddin
DOI:
关键词: Mechanism (engineering) 、 Head (vessel) 、 Connecting rod 、 Machine tool 、 Kinematics 、 Servomotor 、 Mechanical engineering 、 Engineering 、 Linear motor 、 Parallel manipulator 、 Simulation
摘要: Our present research focuses on kinematic and dynamic modeling of a 3-DOF robotic cutting head for the next generation CNC machines. The is one kind parallel manipulator 3-PUU type, which has high flexibility motion in three-dimensional space. consists three linear servomotors, drive connecting rods independently according to strategy. Being manipulator, higher stiffness position accuracy; consequently, velocities accelerations can be achieved. A very suitable application this mechanism as precision machine tool problems.
参考文章(11)
Kenneth Henderson Hunt, Kinematic geometry of mechanisms ,(1978)
Raffaele Di Gregorio, Vincenzo Parenti-Castelli, Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translational Motion Journal of Mechanical Design. ,vol. 124, pp. 259- 264 ,(2002) , 10.1115/1.1471530
Han Sung Kim, Lung-Wen Tsai, Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator Journal of Mechanical Design. ,vol. 125, pp. 92- 97 ,(2003) , 10.1115/1.1539505
O. Company, F. Pierrot, Modelling and design issues of a 3-axis parallel machine-tool Mechanism and Machine Theory. ,vol. 37, pp. 1325- 1345 ,(2002) , 10.1016/S0094-114X(02)00040-X
K. H. Hunt, Structural Kinematics of In-Parallel-Actuated Robot-Arms Journal of Mechanisms Transmissions and Automation in Design. ,vol. 105, pp. 705- 712 ,(1983) , 10.1115/1.3258540
C. M. Gosselin, Parallel Computational Algorithms for the Kinematics and Dynamics of Planar and Spatial Parallel Manipulators Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 118, pp. 22- 28 ,(1996) , 10.1115/1.2801147
Lung-Wen Tsai, Kinematics of A Three-Dof Platform with Three Extensible Limbs Springer Netherlands. pp. 401- 410 ,(1996) , 10.1007/978-94-009-1718-7_40
M. Uchyama, A New Design of a Very Fast 6-DOF Parallel Robot Proc. 23rd Int. Symp. Industrial Robots. pp. 771- 776 ,(1992)
François Pierrot, , Masaru Uchiyama, Pierre Dauchez, Alain Fournier, , A New Design of a 6-DOF Parallel Robot Journal of Robotics and Mechatronics. ,vol. 2, pp. 308- 315 ,(1990) , 10.20965/JRM.1990.P0308
Hermes Giberti, Alessandro Tasora, Paolo Righettini, Design and experimental test of a pneumatic translational 3d of parallel manipulator 10th International Workshop RAAD. pp. 1- 8 ,(2001)