Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder Joint
According to the characteristics of shoulder joint,a decoupling parallel bionic shoulder joint driven by pneumatic muscle actuators（ PMAs） is presented. Based on screw theory,the freedoms of 3-DOF parallel mechanism are analyzed. The kinematics model of parallel mechanism is established because of i...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.10.012 |
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| _version_ | 1841547750011830272 |
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| author | Li Fang Xu Jiaqi Liu Kai Wu Yang |
| author_facet | Li Fang Xu Jiaqi Liu Kai Wu Yang |
| author_sort | Li Fang |
| collection | DOAJ |
| description | According to the characteristics of shoulder joint,a decoupling parallel bionic shoulder joint driven by pneumatic muscle actuators（ PMAs） is presented. Based on screw theory,the freedoms of 3-DOF parallel mechanism are analyzed. The kinematics model of parallel mechanism is established because of its simple reverse solution. Besides,its dynamics model is also established based on Lagrange method. In simulation control,computed torque method can better control motion of parallel mechanism,which verifies the correctness of the dynamic model at the same time. |
| format | Article |
| id | doaj-art-79d31b310bf94d45bd5e79428161c616 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-79d31b310bf94d45bd5e79428161c6162025-01-10T14:20:43ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141656929932661Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder JointLi FangXu JiaqiLiu KaiWu YangAccording to the characteristics of shoulder joint,a decoupling parallel bionic shoulder joint driven by pneumatic muscle actuators（ PMAs） is presented. Based on screw theory,the freedoms of 3-DOF parallel mechanism are analyzed. The kinematics model of parallel mechanism is established because of its simple reverse solution. Besides,its dynamics model is also established based on Lagrange method. In simulation control,computed torque method can better control motion of parallel mechanism,which verifies the correctness of the dynamic model at the same time.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.10.012Parallel mechanismPneumatic muscle actuators（PMAs）Screw theoryLagrange methodComputed torque method |
| spellingShingle | Li Fang Xu Jiaqi Liu Kai Wu Yang Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder Joint Jixie chuandong Parallel mechanism Pneumatic muscle actuators（PMAs） Screw theory Lagrange method Computed torque method |
| title | Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder Joint |
| title_full | Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder Joint |
| title_fullStr | Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder Joint |
| title_full_unstemmed | Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder Joint |
| title_short | Dynamic Modeling and Simulation Control of 3-DOF Bionic Shoulder Joint |
| title_sort | dynamic modeling and simulation control of 3 dof bionic shoulder joint |
| topic | Parallel mechanism Pneumatic muscle actuators（PMAs） Screw theory Lagrange method Computed torque method |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.10.012 |
| work_keys_str_mv | AT lifang dynamicmodelingandsimulationcontrolof3dofbionicshoulderjoint AT xujiaqi dynamicmodelingandsimulationcontrolof3dofbionicshoulderjoint AT liukai dynamicmodelingandsimulationcontrolof3dofbionicshoulderjoint AT wuyang dynamicmodelingandsimulationcontrolof3dofbionicshoulderjoint |