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Informations générales |
| Auteur |
Dehkordi, Maryam Banitalebi; Frisoli, Antonio; Sotgiu, Edoardo; Bergamasco, Massimo |
| Publié |
InTech Open Access Publisher, 2012
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| Abstract |
This paper presents the modelling and
experimental evaluation of the gravity compensation of a
horizontal 3‐UPU parallel mechanism. The conventional
Newton‐Euler method for static analysis and balancing of
mechanisms works for serial robots; however, it can
become computationally expensive when applied to the
analysis of parallel manipulators. To overcome this
difficulty, in this paper we propose an approach, based
on a Lagrangian method, that is more efficient in terms of
computation time. The derivation of the gravity
compensation model is based on the analytical
computation of the total potential energy of the system at
each position of the end‐effector. In order to satisfy the
gravity compensation condition, the total potential
energy of the system should remain constant for all of the
manipulator’s configurations. Analytical and mechanical
gravity compensation is taken into account, and the set of
conditions and the system of springs are defined. Finally,
employing a virtual reality environment, some
experiments are carried out and the reliability and
feasibility of the proposed model are evaluated in the
presence and absence of the elastic components. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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