Documenti accessibili
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Informazioni generali |
| Autore |
Yang, Chifu; Han, Junwei |
| Pubblicato |
InTech Open Access Publisher, 2013
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| Abstract |
The workspace of a spatial 6‐DOF electrohydraulic
parallel manipulator is strongly coupled, due
to its multi‐closed‐loop kinematic structure and the
coupling complicates motion planning and control of
the parallel manipulator. This paper clearly analyses the
strong dynamic coupling property in the workspace of a
spatial 6‐DOF parallel manipulator, using modal
decoupling theory and a frequency responses
characteristics analysis method. The dynamic model of a
spatial 6‐DOF electro‐hydraulic parallel manipulator is
expressed with the Kane method and hydromechanics
principles. The modal analysis method is used to
establish the map between strong coupling workspace
and decoupled modal space and the dynamic coupling
relationship and coupling strength between workspaces
are exactly revealed. The quantitative evaluation index
of dynamic coupling is presented. Moreover, the
relationship between dynamic coupling effects and
input is discussed through applying frequency
characteristics analysis. Experimental results show the
workspace of the parallel manipulator is strongly
coupled and the coupling property is coincident with
theoretical results. |
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International Journal of Advanced Robotic Systems
Autore: 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, [...]
Pubblicato: 2004
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