Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot
A novel fully-isotropic translational parallel robot is presented,which consists of a moving platform connecting with a fixed base by three identical limbs. Firstly,the analysis of kinematical problems of the robot are performed and the equations about position,velocity and acceleration are establis...
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| Main Authors: | , , , , |
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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.1004.2539.2017.10.021 |
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| author | Zhang Yanbin Wang Zenghui He Qiang Zhao Yifu Ding Ding |
| author_facet | Zhang Yanbin Wang Zenghui He Qiang Zhao Yifu Ding Ding |
| author_sort | Zhang Yanbin |
| collection | DOAJ |
| description | A novel fully-isotropic translational parallel robot is presented,which consists of a moving platform connecting with a fixed base by three identical limbs. Firstly,the analysis of kinematical problems of the robot are performed and the equations about position,velocity and acceleration are established. Then the friction forces/torques of the actuated prismatic pairs and the spherical joints are discussed based on the " Coulomb + Viscous" friction model. The dynamics models of the actuated pairs,the kinematical chains and the moving platform are set up respectively by using the Newton-Euler method. The mapping relationship between the driving force of the actuated pairs and the external force applied on the platform is explored. Finally,dynamics simulation of the parallel robot is completed based on ADAMS and MATLAB software and the driving force curves of the actuated joints are given. Simulation results show that the theoretical analysis is correct and effective. The proposed parallel mechanism has widely potential applications in end-effectors of the agricultural robots,industrial robots. |
| format | Article |
| id | doaj-art-9f5dc61326444644b12dd89f42124425 |
| 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-9f5dc61326444644b12dd89f421244252025-01-10T14:20:50ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014111311829932801Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel RobotZhang YanbinWang ZenghuiHe QiangZhao YifuDing DingA novel fully-isotropic translational parallel robot is presented,which consists of a moving platform connecting with a fixed base by three identical limbs. Firstly,the analysis of kinematical problems of the robot are performed and the equations about position,velocity and acceleration are established. Then the friction forces/torques of the actuated prismatic pairs and the spherical joints are discussed based on the " Coulomb + Viscous" friction model. The dynamics models of the actuated pairs,the kinematical chains and the moving platform are set up respectively by using the Newton-Euler method. The mapping relationship between the driving force of the actuated pairs and the external force applied on the platform is explored. Finally,dynamics simulation of the parallel robot is completed based on ADAMS and MATLAB software and the driving force curves of the actuated joints are given. Simulation results show that the theoretical analysis is correct and effective. The proposed parallel mechanism has widely potential applications in end-effectors of the agricultural robots,industrial robots.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.10.021Parallel mechanismDynamics analysisFriction/friction torqueSimulation and analysis |
| spellingShingle | Zhang Yanbin Wang Zenghui He Qiang Zhao Yifu Ding Ding Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot Jixie chuandong Parallel mechanism Dynamics analysis Friction/friction torque Simulation and analysis |
| title | Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot |
| title_full | Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot |
| title_fullStr | Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot |
| title_full_unstemmed | Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot |
| title_short | Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot |
| title_sort | dynamics analysis and simulation of a novel fully isotropic translational parallel robot |
| topic | Parallel mechanism Dynamics analysis Friction/friction torque Simulation and analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.10.021 |
| work_keys_str_mv | AT zhangyanbin dynamicsanalysisandsimulationofanovelfullyisotropictranslationalparallelrobot AT wangzenghui dynamicsanalysisandsimulationofanovelfullyisotropictranslationalparallelrobot AT heqiang dynamicsanalysisandsimulationofanovelfullyisotropictranslationalparallelrobot AT zhaoyifu dynamicsanalysisandsimulationofanovelfullyisotropictranslationalparallelrobot AT dingding dynamicsanalysisandsimulationofanovelfullyisotropictranslationalparallelrobot |