Dynamics Model of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Drive
The Lagrange method is applied to build dynamics model of the 6 DOF redundantly actuated hybrid machine tool. Firstly,the configuration of the 4-PRP + 3-UPS&PU machine tool is analyzed,and the coordinate system is established. Then,the expression of kinetic energy and potential energy of the...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
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.1004.2539.2017.08.014 |
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