Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator
In order to analyze the dynamics characteristic of the hip joint simulator which taking the 3HUS+ S spatial parallel mechanism as the core module,starting from the kinematics of parallel mechanism,the relationship between the velocity,acceleration of moving platform and the linear module slider and...
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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.1004.2539.2017.01.005 |
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| author | Zhang Huizhen Cheng Gang Shan Xianlei |
| author_facet | Zhang Huizhen Cheng Gang Shan Xianlei |
| author_sort | Zhang Huizhen |
| collection | DOAJ |
| description | In order to analyze the dynamics characteristic of the hip joint simulator which taking the 3HUS+ S spatial parallel mechanism as the core module,starting from the kinematics of parallel mechanism,the relationship between the velocity,acceleration of moving platform and the linear module slider and active branched- chains are established. By the forces and torques of the centroid of the moving platform,active branched- chains and linear module,the dynamics model is established based on the principle of virtual power. The driving torques and powers of the linear module are obtained by simulating on the dynamics model,a reference for the simulator in the analysis of dynamics characteristics and research of control strategy is provided. |
| format | Article |
| id | doaj-art-f9b3994961604a2ba0a45c5483755686 |
| 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-f9b3994961604a2ba0a45c54837556862025-01-10T14:39:01ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141202329928162Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint SimulatorZhang HuizhenCheng GangShan XianleiIn order to analyze the dynamics characteristic of the hip joint simulator which taking the 3HUS+ S spatial parallel mechanism as the core module,starting from the kinematics of parallel mechanism,the relationship between the velocity,acceleration of moving platform and the linear module slider and active branched- chains are established. By the forces and torques of the centroid of the moving platform,active branched- chains and linear module,the dynamics model is established based on the principle of virtual power. The driving torques and powers of the linear module are obtained by simulating on the dynamics model,a reference for the simulator in the analysis of dynamics characteristics and research of control strategy is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.0053HUS+S parallel mechanismHip joint simulatorDynamics modelPrinciple of virtual power |
| spellingShingle | Zhang Huizhen Cheng Gang Shan Xianlei Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator Jixie chuandong 3HUS+S parallel mechanism Hip joint simulator Dynamics model Principle of virtual power |
| title | Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator |
| title_full | Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator |
| title_fullStr | Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator |
| title_full_unstemmed | Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator |
| title_short | Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator |
| title_sort | study on the dynamics of 3hus s parallel bionic hip joint simulator |
| topic | 3HUS+S parallel mechanism Hip joint simulator Dynamics model Principle of virtual power |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.005 |
| work_keys_str_mv | AT zhanghuizhen studyonthedynamicsof3hussparallelbionichipjointsimulator AT chenggang studyonthedynamicsof3hussparallelbionichipjointsimulator AT shanxianlei studyonthedynamicsof3hussparallelbionichipjointsimulator |